Optimal Computation of 3-D Rotation under Inhomogeneous Anisotropic Noise



	Memoirs of the Faculty of Engineering, Okayama University Published by Faculty of Enginerring, Okayama University <Formerly known as> Memoirs of the School of Engineering, Okayama University <Availability> Some items are not available because of decision by its author or publisher.

URI

http://ousar.lib.okayama-u.ac.jp/metadata/44498

フルテキストURL

mfe_045_036_045.pdf ( 2.3MB ) 公開日 2011-04-08

タイトル

Optimal Computation of 3-D Rotation under Inhomogeneous Anisotropic Noise

著者

著者
Author	Kanatani Kenichi

著者
Author	Niitsuma Hirotaka

抄録

We present a new method for optimally computing the 3-D rotation from two sets of 3-D data. Unlike 2-D data, the noise in 3-D data is inherently inhomogeneous and anisotropic, reflecting the characteristics of the 3-D sensing used. To cope with this, Ohta and Kanatani introduced a technique called “renormalization”. Following them, we represent a 3-D rotation in terms of a quaternion and compute an exact maximum likelihood solution using the FNS of Chojnacki et al. As an example, we consider 3-D data obtained by stereo vision and optimally compute the 3-D rotation by analyzing the noise characteristics of stereo reconstruction. We show that the widely used method is not suitable for 3-D data. We confirm that the renormalization of Ohta and Kanatani indeed computes almost an optimal solution and that, although the difference is small, the proposed method can compute an even better solution.

発行日

2011-01

出版物タイトル

Memoirs of the Faculty of Engineering, Okayama University

出版物タイトル（別表記）

岡山大学工学部紀要

巻

出版者

Faculty of Engineering, Okayama University

開始ページ

終了ページ

ISSN

1349-6115

NCID

AA12014085

資料タイプ

紀要論文

本文言語

英語

OAI-PMH Set

岡山大学

著作権者

論文のバージョン

publisher