### Abstract

We present a new method for optimally computing the 3-D rotation from two sets of 3-D data in the presence of inhomogeneous and anisotropic noise. Following Ohta and Kanatani, we adopt the quaternion representation of 3-D rotation and compute an exact maximum likelihood solution using the FNS of Chojnacki et al. Then, the uncertainty of 3-D reconstruction by stereo vision is analyzed, and the 3-D rotation is optimally computed. We show that the renormalization of Ohta and Kanatani indeed computes almost an optimal solution and that the proposed method can compute an even better solution.

Original language | English |
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Title of host publication | Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011 |

Pages | 112-115 |

Number of pages | 4 |

Publication status | Published - Dec 1 2011 |

Event | 12th IAPR Conference on Machine Vision Applications, MVA 2011 - Nara, Japan Duration: Jun 13 2011 → Jun 15 2011 |

### Publication series

Name | Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011 |
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### Other

Other | 12th IAPR Conference on Machine Vision Applications, MVA 2011 |
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Country | Japan |

City | Nara |

Period | 6/13/11 → 6/15/11 |

### ASJC Scopus subject areas

- Computer Vision and Pattern Recognition

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## Cite this

Niitsuma, H., & Kanatani, K. (2011). Optimal computation of 3-D rotation under inhomogeneous anisotropic noise. In

*Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011*(pp. 112-115). (Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011).