Robust synchronization in SO(3) and SE(3) via low-rank and sparse matrix decomposition.
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| Title: | Robust synchronization in SO(3) and SE(3) via low-rank and sparse matrix decomposition. |
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| Authors: | Arrigoni, Federica1, Rossi, Beatrice2, Fragneto, Pasqualina2, Fusiello, Andrea1 andrea.fusiello@uniud.it |
| Source: | Computer Vision & Image Understanding. Sep2018, Vol. 174, p95-113. 19p. |
| Subjects: | Sparse matrix software, Synchronization software, Algorithms, Outlier detection, Decomposition method |
| Abstract: | Highlights • Synchronization in SO(3) and SE(3) is formulated as a low-rank and sparse matrix decomposition problem. • Any low-rank and sparse matrix decomposition algorithm can be used in this framework. • Good trade-off between resistance to outliers and speed. Abstract This paper deals with the synchronization problem, which arises in multiple 3D point-set registration and in structure-from-motion. The problem is formulated as a low-rank and sparse matrix decomposition that caters for missing data, outliers and noise, and it benefits from a wealth of available decomposition algorithms that can be plugged-in. A minimization strategy, dubbed R-GoDec , is also proposed. Experimental results on simulated and real data show that this approach offers a good trade-off between resistance to outliers and speed. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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