IRAv3+: Hierarchical Incremental Rotation Averaging via Multiple Connected Dominating Sets

doi:10.1109/TCSVT.2023.3309661

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	IRAv3+: Hierarchical Incremental Rotation Averaging via Multiple Connected Dominating Sets
	Gao, Xiang1,2,3 ; Cui, Hainan1,2,3 ; Huang, Wantao 4; Li, Menghan 5; Shen, Shuhan1,2,3
发表期刊	IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY
ISSN	1051-8215
	2024-04-01
卷号	34 期号:4 页码:3049-3055
通讯作者	Shen, Shuhan(shshen@nlpr.ia.ac.cn)
摘要	Focusing on the difficulty of absolute rotation globalization of large-scale rotation averaging problem, a novel hierarchical pipeline, termed as IRAv3+, based on multiple Connected Dominating Sets (CDSs) is proposed in this paper. Specifically, the proposed method not only obtains the graph clusters for local rotation averaging like other cluster-based methods, but also generate a subset via connected dominating set extraction, which is served as a reference for rotation globalization. To facilitate the rotation globalization, two key techniques are proposed: 1) to provide a more reliable global reference, instead of a single CDS, multiple CDSs are randomly selected and united; 2) to give a more accurate local-to-global alignment estimation, instead of using the relative rotation measurements of the sharing edges between local clusters and global reference, the absolute rotations of common vertices between them are involved. Experiments on the 1DSfM dataset demonstrate the effectiveness of the proposed IRAv3+ and its advantages over the existing cluster-based rotation averaging methods and other state of the arts.
关键词	Global structure from motion large-scale rotation averaging multiple connected dominating sets
DOI	10.1109/TCSVT.2023.3309661
关键词[WOS]	ALGORITHMS ; EFFICIENT
收录类别	SCI
语种	英语
资助项目	Strategic Priority Research Program of the Chinese Academy of Sciences
项目资助者	Strategic Priority Research Program of the Chinese Academy of Sciences
WOS研究方向	Engineering
WOS类目	Engineering, Electrical & Electronic
WOS记录号	WOS:001197960500025
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/57060
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Shen, Shuhan
作者单位	1.Chinese Acad Sci CASIA, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.CASIA, SenseTime Res Grp, Beijing 100190, Peoples R China 4.Kaili Univ, Coll Sci, Kaili 556000, Peoples R China 5.Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Gao, Xiang,Cui, Hainan,Huang, Wantao,et al. IRAv3+: Hierarchical Incremental Rotation Averaging via Multiple Connected Dominating Sets[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY,2024,34(4):3049-3055.
APA	Gao, Xiang,Cui, Hainan,Huang, Wantao,Li, Menghan,&Shen, Shuhan.(2024).IRAv3+: Hierarchical Incremental Rotation Averaging via Multiple Connected Dominating Sets.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY,34(4),3049-3055.
MLA	Gao, Xiang,et al."IRAv3+: Hierarchical Incremental Rotation Averaging via Multiple Connected Dominating Sets".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY 34.4(2024):3049-3055.