TY - GEN
T1 - Optimal computation of 3-D rotation under inhomogeneous anisotropic noise
AU - Niitsuma, Hirotaka
AU - Kanatani, Kenichi
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84864126822
SN - 9784901122115
T3 - Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011
SP - 112
EP - 115
BT - Proceedings of the 12th IAPR Conference on Machine Vision Applications, MVA 2011
T2 - 12th IAPR Conference on Machine Vision Applications, MVA 2011
Y2 - 13 June 2011 through 15 June 2011
ER -