When is Rotations Averaging Hard?

author: Kyle Wilson, Washington College
published: Oct. 24, 2016,   recorded: October 2016,   views: 1366
Categories

Slides

Related content

Report a problem or upload files

If you have found a problem with this lecture or would like to send us extra material, articles, exercises, etc., please use our ticket system to describe your request and upload the data.
Enter your e-mail into the 'Cc' field, and we will keep you updated with your request's status.
Lecture popularity: You need to login to cast your vote.
  Delicious Bibliography

Description

Rotations averaging has become a key subproblem in global Structure from Motion methods. Several solvers exist, but they do not have guarantees of correctness. They can produce high-quality results, but also sometimes fail. Our understanding of what makes rotations averaging problems easy or hard is still very limited. To investigate the difficulty of rotations averaging, we perform a local convexity analysis under an L2 cost function. Although a previous result has shown that in general, this problem is locally convex almost nowhere, we show how this negative conclusion can be reversed by considering the gauge ambiguity. Our theoretical analysis reveals the factors that determine local convexity - noise and graph structure - as well as how they interact, which we describe by a particular Laplacian matrix. Our results are useful for predicting the difficulty of problems, and we demonstrate this on practical datasets. Our work forms the basis of a deeper understanding of the key properties of rotations averaging problems, and we discuss how it can inform the design of future solvers for this important problem.

See Also:

Download slides icon Download slides: eccv2016_wilson_rotations_averaging.pdf (2.9 MB)


Help icon Streaming Video Help

Link this page

Would you like to put a link to this lecture on your homepage?
Go ahead! Copy the HTML snippet !

Write your own review or comment:

make sure you have javascript enabled or clear this field: