Spectral Motion Synchronization in SE(3)

TL;DR

This paper introduces a novel spectral method for motion synchronization directly in SE(3), providing the first closed-form solution that is both precise and computationally efficient, outperforming existing methods.

Contribution

It presents the first closed-form spectral solution for motion synchronization in SE(3), avoiding separate rotation and translation computations.

Findings

Outperforms state-of-the-art in accuracy

Faster computation times

Provides a theoretically elegant solution

Abstract

This paper addresses the problem of motion synchronization (or averaging) and describes a simple, closed-form solution based on a spectral decomposition, which does not consider rotation and translation separately but works straight in SE(3), the manifold of rigid motions. Besides its theoretical interest, being the first closed form solution in SE(3), experimental results show that it compares favourably with the state of the art both in terms of precision and speed.