Rotation averaging and weak convexity
Richard I. Hartley, Jochen Trumpf, Yuchao Dai · ANU Open Research (Australian National University) · 2010
We generalize the concept of geodesic convexity in the Special Orthogonal Group SO(3) and apply the generalization to the discussion of rotation averaging.As a result we are able to derive strong and new theorems about the location of global minima of the rotation averaging cost function.A brief discussion of the relationship of our results to previous results from the literature will be provided, as well as an application to camera rig calibration in computer vision.