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Document type:
Konferenzbeitrag 
Author(s):
Busam, B.; Birdal, T.; Navab, N. 
Title:
Camera Pose Filtering with Local Regression Geodesics on the Riemannian Manifold of Dual Quaternions 
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...    »
 
Keywords:
ICCV,ICCVW,Tracking,Quaternion,DualQuaternion,StereoVision,PoseAveraging,IFL,PoseEstimation,6DoFPose 
Book / Congress title:
IEEE International Conference on Computer Vision Workshop (ICCVW) 
Year:
2017