2010 | OriginalPaper | Buchkapitel
Rotation Averaging with Application to Camera-Rig Calibration
verfasst von : Yuchao Dai, Jochen Trumpf, Hongdong Li, Nick Barnes, Richard Hartley
Erschienen in: Computer Vision – ACCV 2009
Verlag: Springer Berlin Heidelberg
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We present a method for calibrating the rotation between two cameras in a camera rig in the case of non-overlapping fields of view and in a globally consistent manner. First, rotation averaging strategies are discussed and an
L
1
-optimal rotation averaging algorithm is presented which is more robust than the
L
2
-optimal mean and the direct least squares mean. Second, we alternate between rotation averaging across several views and conjugate rotation averaging to achieve a global solution. Various experiments both on synthetic data and a real camera rig are conducted to evaluate the performance of the proposed algorithm. Experimental results suggest that the proposed algorithm realizes global consistency and a high precision estimate.