Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging

2 Apr 2019Matthew GiamouFilip MaricValentin PeretroukhinJonathan Kelly

Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptimal local minima are used to solve the rotation averaging problem... (read more)

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