This paper deals with the synchronization problem, which arises in multiple 3D point-set registration and in structure-from-motion. The problem is formulated as a low-rank and sparse matrix decom- position that caters for missing data, outliers and noise, and it benefits from a wealth of available decomposition algorithms that can be plugged-in. A minimization strategy, dubbed R-GoDec, is also proposed. Experimental results on simulated and real data show that this approach offers a good trade-off between resistance to outliers and speed.
Robust synchronization in SO(3) and SE(3) via low-rank and sparse matrix decomposition
Arrigoni, Federica;Fusiello, Andrea
2018-01-01
Abstract
This paper deals with the synchronization problem, which arises in multiple 3D point-set registration and in structure-from-motion. The problem is formulated as a low-rank and sparse matrix decom- position that caters for missing data, outliers and noise, and it benefits from a wealth of available decomposition algorithms that can be plugged-in. A minimization strategy, dubbed R-GoDec, is also proposed. Experimental results on simulated and real data show that this approach offers a good trade-off between resistance to outliers and speed.File in questo prodotto:
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