Fast and Accurate Rotation Estimation on the 2-Sphere without Correspondences

Authors:
Janis Fehr;Marco Reisert;Hans Burkhardt
Affiliations:
Chair of Pattern Recognition and Image Processing Institute for Computer Science, Albert-Ludwigs-University, Freiburg, Germany;Chair of Pattern Recognition and Image Processing Institute for Computer Science, Albert-Ludwigs-University, Freiburg, Germany;Chair of Pattern Recognition and Image Processing Institute for Computer Science, Albert-Ludwigs-University, Freiburg, Germany
Venue:
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part II
Year:
2008

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Abstract

We present a refined method for rotation estimation of signals on the 2-Sphere. Our approach utilizes a fast correlation in the harmonic domain to estimate rotation angles of arbitrary size and resolution. The method is able to achieve great accuracy even for very low spherical harmonic expansions of the input signals without using correspondences or any other kind of a priori information. The rotation parameters are computed analytically without additional iterative post-processing or "fine tuning".The theoretical advances presented in this paper can be applied to a wide range of practical problems such as: shape description and shape retrieval, 3D rigid registration, robot positioning with omni-directional cameras or 3D invariant feature design.