Institutional Repository of Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
| IRA plus plus : Distributed Incremental Rotation Averaging | |
Gao, Xiang1 ; Zhu, Lingjie2; Cui, Hainan3,4,5; Xie, Zexiao1; Shen, Shuhan3,4,5
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| Source Publication | IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY
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| ISSN | 1051-8215 |
| 2022-07-01 | |
| Volume | 32Issue:7Pages:4885-4892 |
| Corresponding Author | Shen, Shuhan(shshen@nlpr.ia.ac.cn) |
| Abstract | By observing that the recently presented Incremental Rotation Averaging (IRA) suffers from drifting and efficiency problems in large-scale situations, it is upgraded in this work to possess stronger scalability in both accuracy and efficiency based on the thought of divide and conquer. This upgraded version is termed as IRA++. Specifically, the original Epipolar-geometry Graph (EG) is clustered into several sub-graphs and inner-rotation averaging is distributedly performed in each of them with IRA at first. Then, the relative rotation between each pair of inner-sub-EG coordinate systems is distributedly estimated by a voting-based single rotation averaging method. Subsequently, IRA-based inter-rotation averaging is performed to obtain the absolute rotation of each inner-sub-EG coordinate system. And finally, the absolute rotations of all the cameras in the original EG are globally aligned and optimized to get the final rotation averaging result. Comprehensive evaluations on the 1DSfM, Campus, and San Francisco datasets demonstrate the advantages of our proposed IRA++ over IRA and several other state-of-the-art rotation averaging methods in both efficiency and accuracy, especially the accuracy in noise-polluted and efficiency in large-scale situations. |
| Keyword | Barium Optimization Cameras Rotation measurement Pipelines Estimation Scalability Structure from motion rotation averaging divide and conquer |
| DOI | 10.1109/TCSVT.2021.3118883 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Science Foundation of China[62003319] ; National Science Foundation of China[61873265] ; National Science Foundation of China[62076026] ; Shandong Provincial Natural Science Foundation[ZR2020QF075] ; China Postdoctoral Science Foundation[2020M682239] |
| Funding Organization | National Science Foundation of China ; Shandong Provincial Natural Science Foundation ; China Postdoctoral Science Foundation |
| WOS Research Area | Engineering |
| WOS Subject | Engineering, Electrical & Electronic |
| WOS ID | WOS:000819817700063 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/49153 |
| Collection | 模式识别国家重点实验室_机器人视觉 |
| Corresponding Author | Shen, Shuhan |
| Affiliation | 1.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China 2.Alibaba AI Labs, Hangzhou 311121, Peoples R China 3.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.CASIA SenseTime Res Grp, Beijing 100190, Peoples R China |
| Corresponding Author Affilication | Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China; Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation GB/T 7714 | Gao, Xiang,Zhu, Lingjie,Cui, Hainan,et al. IRA plus plus : Distributed Incremental Rotation Averaging[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY,2022,32(7):4885-4892. |
| APA | Gao, Xiang,Zhu, Lingjie,Cui, Hainan,Xie, Zexiao,&Shen, Shuhan.(2022).IRA plus plus : Distributed Incremental Rotation Averaging.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY,32(7),4885-4892. |
| MLA | Gao, Xiang,et al."IRA plus plus : Distributed Incremental Rotation Averaging".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY 32.7(2022):4885-4892. |
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