
TL;DR
This paper introduces a method for estimating camera rotations independently of positions and scene structure, improving accuracy and robustness in 3D reconstruction tasks.
Contribution
It presents a novel rotation-only bundle adjustment approach that decouples rotation estimation from translation and scene structure, enhancing accuracy and robustness.
Findings
Significant accuracy improvements over traditional methods
Robustness to translation and structure inaccuracies
Consistent performance on synthetic and real datasets
Abstract
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be recovered independently of the translation. We extend this idea to multiple views, thereby decoupling the rotation estimation from the translation and structure estimation. Our approach provides several benefits such as complete immunity to inaccurate translations and structure, and the accuracy improvement when used with rotation averaging. We perform extensive evaluations on both synthetic and real datasets, demonstrating consistent and significant gains in accuracy when used with the state-of-the-art rotation averaging method.
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