Research map / 3D vision / Depth and stereo
Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use RA-SfM with hybrid rotation averaging and averaged-rotation regularization instead of COLMAP | Incremental SfM · Trafalgar | MRE: 0.81 -> 0.72 | Helped |
| Use RA-SfM instead of COLMAP | Incremental SfM · Union Square | MRE: 0.66 -> 0.52 | Helped |
| Use RA-SfM instead of COLMAP | Incremental SfM · Piccadilly | MRE: 0.73 -> 0.80 | Hurt |
| Use RA-SfM instead of COLMAP | Incremental SfM · Roman Forum | MRE: 0.71 -> 0.77 | Hurt |
| Use RA-SfM instead of COLMAP | Incremental SfM · Online datasets | MRE | Mixed |
| Add fast view graph filtering before global rotation averaging (ablation) | Global rotation averaging · Synthetic outlier experiments | mean rotation error | Helped |
| Add local IRLS refinement after global rotation averaging (ablation) | Global rotation averaging · Synthetic outlier experiments | mean rotation error | Helped |
| Use hybrid RA instead of SE-Sync | Rotation averaging · Synthetic, n=50000, σ=0.2 | time (s): 956.821 -> 0.515 | Helped |
| Add averaged rotations as regularizers in bundle adjustment | Incremental SfM · Campus | loop closure | Helped |
Closest papers by meaning
- HSfM: Hybrid Structure-from-Motion (CVPR 2017 · similarity 0.90)
- Rotation-Only Bundle Adjustment (CVPR 2021 · similarity 0.89)
- MMA: Multi-Camera Based Global Motion Averaging (AAAI 2022 · similarity 0.88)
- Non-Rigid Structure-from-Motion: Temporally-Smooth Procrustean Alignment and Spatially-Variant Deformation Modeling (CVPR 2024 · similarity 0.85)
- Leveraging Camera Triplets for Efficient and Accurate Structure-from-Motion (CVPR 2024 · similarity 0.84)
- Cycle-Sync: Robust Global Camera Pose Estimation through Enhanced Cycle-Consistent Synchronization (NeurIPS 2025 · similarity 0.84)
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