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Titel:

Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Busam, B.; Birdal, T.; Navab, N.
Abstract:
Time-varying, smooth trajectory estimation is of great interest to the vision community for accurate and well behaving 3D systems. In this paper, we propose a novel principal component local regression filter acting directly on the Riemannian manifold of unit dual quaternions $\mathbbD \mathbbH_1$. We use a numerically stable Lie algebra of the dual quaternions together with $\exp$ and $łog$ operators to locally linearize the 6D pose space. Unlike state of the art path smoothing methods which ei...     »
Stichworte:
ICCV,ICCVW,Tracking,Quaternion,DualQuaternion,StereoVision,PoseAveraging,IFL,PoseEstimation,6DoFPose
Kongress- / Buchtitel:
IEEE International Conference on Computer Vision Workshop (ICCVW)
Jahr:
2017
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