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InfoResearchPeer-reviewed
Linearly Solving Robust Rotation Estimation
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Summary
This paper reformulates rotation estimation as a linear model fitting problem without dropping constraints or introducing singularities. It represents rotation motion as a great circle on a quaternion sphere surface and proposes a voting-based method that runs in parallel on GPUs. The method reportedly solves problems with 10^6 data points and a 99% outlier ratio in under 0.5 seconds.