Rotation averaging with application to camera-rig calibration

Authors:
Yuchao Dai;Jochen Trumpf;Hongdong Li;Nick Barnes;Richard Hartley
Affiliations:
Shaanxi Key Laboratory of Information Acquisition and Processing, School of Electronics and Information, Northwestern Polytechnical University, China;Research School of Information Sciences and Engineering, The Australian National University;Canberra Research Lab, NICTA;Canberra Research Lab, NICTA;Research School of Information Sciences and Engineering, The Australian National University
Venue:
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Year:
2009

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Abstract

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 L1-optimal rotation averaging algorithm is presented which is more robust than the L2-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.