Optimal computation of 3-D rotation under inhomogeneous anisotropic noise

Hirotaka Niitsuma, Kenichi Kanatani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011
Pages112-115
Number of pages4
Publication statusPublished - Dec 1 2011
Event12th IAPR Conference on Machine Vision Applications, MVA 2011 - Nara, Japan
Duration: Jun 13 2011Jun 15 2011

Publication series

NameProceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011

Other

Other12th IAPR Conference on Machine Vision Applications, MVA 2011
CountryJapan
CityNara
Period6/13/116/15/11

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).