Rotation Averaging with Application to Camera-Rig Calibration

We present a method for calibrating the rotation between two cameras in a camera rig in the case of non-overlapping fields of view and in a globally consistent manner. First, rotation averaging strategies are discussed and an L1-optimal rotation averaging algorithm is presented which is more robust than the L2-optimal mean and the direct least squares mean. Second, we alternate between rotation averaging across several views and conjugate rotation averaging to achieve a global solution. Various experiments both on synthetic data and a real camera rig are conducted to evaluate the performance of the proposed algorithm. Experimental results suggest that the proposed algorithm realizes global consistency and a high precision estimate.

• Type: Journal
• Year: 2009
• Where: ACCV
• Authors: Yuchao Dai, Jochen Trumpf, Hongdong Li, Nick Barnes, Richard I. Hartley
• Keywords: ACCV 2009, Algorithm, Camera, Camera Rig, Computer Vision