Incremental Rotation Averaging Revisited

Abstract

In order to further advance the accuracy and robustness of the incremental parameter estimation-based rotation averaging methods, in this paper, a new member of the Incremental Rotation Averaging (IRA) family is introduced, which is termed as IRAv4. As its most significant feature, a task-specific connected dominating set is extracted in IRAv4 to serve as a more reliable and accurate reference for rotation local-to-global alignment. This alignment reference is incrementally constructed, together with the absolute rotations of the vertices belong to it simultaneously estimated. Comprehensive evaluations are performed on the 1DSfM dataset, by which the effectiveness of both the reference construction method and the entire rotation averaging pipeline proposed in this paper is demonstrated.