Research map / 3D vision / Depth and stereo
Rotation-Only Bundle Adjustment
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Apply ROBA after rotation averaging | RA · Synthetic baseline and real datasets | mean angular error (deg), L1 alignment: 2.31 -> 1.26; ALM 4.08 -> 2.35; ELS 2.10 -> 1.06; GDM 6.05 -> 2.43 | Helped |
| Use square-rooted edge costs (ablation) | ROBA · Real datasets | mean angular error (deg), L1 alignment: ALM 2.48 -> 2.35; ELS 0.95 -> 1.06 | Helped |
| Use square-rooted edge costs (ablation) | ROBA · ELS | mean angular error (deg), L1 alignment: 0.95 -> 1.06 | Hurt |
| Enable step-size switching (ablation) | ROBA · ROF and TFG | mean angular error (deg), L1 alignment: ROF 3.53 -> 2.18; TFG 3.53 -> 2.76 | Helped |
| Compute gradients without the approximation (ablation) | ROBA · Real datasets | mean angular error (deg), L1 alignment: ALM 2.35 -> 2.23; ROF 2.18 -> 1.17; NYC 1.03 -> 1.00 | Mixed |
| Compute gradients without the approximation (ablation) | ROBA · Real datasets | optimization time (s): ALM 216 -> 389; ROF 154 -> 274; TFG 1488 -> 2664 | Hurt |
| Use rotation-only refinement on the RA initialization | RA · Synthetic variations, including pure rotations and planar scenes | mean angular error (deg), L1 alignment: Fewer views 1.08 -> 0.33; Farther points 0.69 -> 0.36; Pure rotations 0.045 -> 0.026 | Helped |
Closest papers by meaning
- Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach (CVPR 2021 · similarity 0.89)
- Cycle-Sync: Robust Global Camera Pose Estimation through Enhanced Cycle-Consistent Synchronization (NeurIPS 2025 · similarity 0.85)
- MMA: Multi-Camera Based Global Motion Averaging (AAAI 2022 · similarity 0.85)
- Extreme Rotation Estimation in the Wild (CVPR 2025 · similarity 0.84)
- Steerers: A Framework for Rotation Equivariant Keypoint Descriptors (CVPR 2024 · similarity 0.83)
- PRaDA: Projective Radial Distortion Averaging (CVPR 2025 · similarity 0.83)
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