A Closed-Form Solution to Rotation Estimation for Structure from Small Motion

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dc.contributor.authorHa, Hyowonko
dc.contributor.authorOh, Tae-Hyunko
dc.contributor.authorKweon, In-Soko
dc.date.accessioned2018-02-21T06:38:24Z-
dc.date.available2018-02-21T06:38:24Z-
dc.date.created2017-11-29-
dc.date.created2017-11-29-
dc.date.created2017-11-29-
dc.date.issued2018-03-
dc.identifier.citationIEEE SIGNAL PROCESSING LETTERS, v.25, no.3, pp.393 - 397-
dc.identifier.issn1070-9908-
dc.identifier.urihttp://hdl.handle.net/10203/240369-
dc.description.abstractThe introduction of small motion techniques such as small angle rotation approximation has enabled the 3D reconstruction from a small motion of a camera, so-called Structurefrom- Small-Motion (SfSM). In this letter, we propose a closedform solution dedicated to the rotation estimation problem in SfSM. We show that our method works with a minimal set of 2 points, and has mild conditions to produce a unique optimal solution in practice. Also, we introduce a three-step SfSM pipeline with better convergence and faster speed compared to the stateof- the-art SfSM approaches. The key to this improvement is the separated estimation of the rotation with the proposed 2-point method in order to handle the bas-relief ambiguity that affects the convergence of the bundle adjustment. We demonstrate the effectiveness of our 2-point minimal solution and the three-step SfSM approach in synthetic and real-world experiments under the small motion regime.-
dc.languageEnglish-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.titleA Closed-Form Solution to Rotation Estimation for Structure from Small Motion-
dc.typeArticle-
dc.identifier.wosid000424163100015-
dc.identifier.scopusid2-s2.0-85041956426-
dc.type.rimsART-
dc.citation.volume25-
dc.citation.issue3-
dc.citation.beginningpage393-
dc.citation.endingpage397-
dc.citation.publicationnameIEEE SIGNAL PROCESSING LETTERS-
dc.identifier.doi10.1109/LSP.2017.2705138-
dc.contributor.localauthorKweon, In-So-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorRelative pose problem-
dc.subject.keywordAuthorrotation estimation-
dc.subject.keywordAuthorstructure from small motion (SfSM)-
dc.subject.keywordAuthortwo-point minimal solution-
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