Robust Absolute Rotation Estimation via Low-Rank and Sparse Matrix Decomposition

摘要

This paper proposes a robust method to solve the absolute rotation estimation problem, which arises in global registration of 3D point sets and in structure-from-motion. A novel cost function is formulated which inherently copes with outliers. In particular, the proposed algorithm handles both outlier and missing relative rotations, by casting the problem as a "low-rank & sparse" matrix decomposition. As a side effect, this solution can be seen as a valid and cost-effective detector of inconsistent pair wise rotations. Computational efficiency and numerical accuracy, are demonstrated by simulated and real experiments.