Lie-algebraic averaging for globally consistent motion estimation

By Venu Madhav Govindu. Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., 2004

307 citations recorded by the source corpus.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

Robust Global Translations with 1DSfM (2014, methodology): “[12]), these methods first solve for camera rotations, and then camera translations.”
A Survey on Structure from Motion (2017, methodology): “One of the methods deviating from the generic recipe considered above is studied in [27].”
Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion (2013, unknown): “Alternatively, the averaging can be performed in the SO(3) Lie-group [11, 14].”
Rotation Averaging (2013, methodology): “He published a series of papers addressing this problem (Govindu 2001, 2004, 2006).”
Covariance Tracking using Model Update Based on Lie Algebra (2006, methodology): “The algorithm runs at ∼150 msec/frame while achieving the same tracking performance when we apply a sampling based hierarchical search.”
Disambiguating visual relations using loop constraints (2010, methodology): “We utilize a different approach following [9, 16] to obtain globally consistent transformations from relative ones (see Section 5).”
Geometry-Aware Learning of Maps for Camera Localization (2017, background): “, bundle adjustment (BA) [22, 23, 39], pose graph optimization (PGO) [8, 17, 37]) in the context of visual SLAM.”