Rotation averaging and weak convexity
Rotation averaging and weak convexity
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发表时间：
2010
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通讯作者：
R. Hartley;J. Trumpf;Yuchao Dai
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作者：
R. Hartley;J. Trumpf;Yuchao Dai
我们概括了特殊的正交组（3）中的大地凸状概念，并将概括应用于旋转平均的讨论。结果，我们能够得出关于旋转平均成本函数全局最小值位置的强大定理。简要讨论了我们的结果与文献的先前结果的关系，以及计算机视觉中的摄像头校准的应用。
We generalize the concept of geodesic convexity in the Special Orthogonal Group SO(3) and apply the generalization to the discussion of rotation averaging. As a result we are able to derive strong and new theorems about the location of global minima of the rotation averaging cost function. A brief discussion of the relationship of our results to previous results from the literature will be provided, as well as an application to camera rig calibration in computer vision.