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Fast and Accurate Rotation Estimation on the 2-Sphere without Correspondences

Summary: Fast and Accurate Rotation Estimation on the
2-Sphere without Correspondences
Janis Fehr, Marco Reisert, and Hans Burkhardt
Chair of Pattern Recognition and Image Processing
Institute for Computer Science
Albert-Ludwigs-University, Freiburg, Germany
Abstract. We present a refined method for rotation estimation of sig-
nals on the 2-Sphere. Our approach utilizes a fast correlation in the
harmonic domain to estimate rotation angles of arbitrary size and reso-
lution. The method is able to achieve great accuracy even for very low
spherical harmonic expansions of the input signals without using cor-
respondences or any other kind of a priori information. The rotation
parameters are computed analytically without additional iterative post-
processing or "fine tuning".
The theoretical advances presented in this paper can be applied to a
wide range of practical problems such as: shape description and shape
retrieval, 3D rigid registration, robot positioning with omni-directional
cameras or 3D invariant feature design.
1 Introduction


Source: Albert-Ludwigs-Universität Freiburg, Institut für Informatik,, Lehrstuhls für Mustererkennung und Bildverarbeitung


Collections: Computer Technologies and Information Sciences