Spectral Motion Synchronization in SE(3)
This provides a more efficient solution for motion averaging in robotics and computer vision, though it is incremental as it builds on existing synchronization methods.
The paper tackles motion synchronization in SE(3) by proposing a closed-form spectral decomposition method that handles rotations and translations jointly, achieving favorable precision and speed compared to state-of-the-art approaches.
This paper addresses the problem of motion synchronization (or averaging) and describes a simple, closed-form solution based on a spectral decomposition, which does not consider rotation and translation separately but works straight in SE(3), the manifold of rigid motions. Besides its theoretical interest, being the first closed form solution in SE(3), experimental results show that it compares favourably with the state of the art both in terms of precision and speed.