公开(公告)号：US09846974B2

公开(公告)日：2017-12-19

申请号：US14562394

申请日：2014-12-05

Applicant: STMicroelectronics S.r.l.

Inventor： Federica Arrigoni ,  Beatrice Rossi ,  Pasqualina Fragneto

IPC: G06T19/20

CPC classification number: G06T19/20 ,  G06T2219/2004 ,  G06T2219/2016

Abstract: The present disclosure is directed to systems and methods to perform absolute rotation estimation including outlier detection via low-rank and sparse matrix decomposition. One example method includes obtaining a relative rotation estimates matrix that includes a plurality of relative rotation estimates. The method includes determining values for a low-rank matrix that result in a desirable value of a cost function that is based on a low-rank and sparse matrix decomposition of the relative rotation estimates matrix. The cost function includes the low-rank matrix and a sparse matrix that is nonzero in correspondence of one or more outliers of the plurality of relative rotation estimates. The method includes determining an absolute rotations matrix that includes a plurality of absolute rotations based at least in part on the values of the low-rank matrix that result in the desirable value of the cost function.

公开(公告)号：US20160163114A1

公开(公告)日：2016-06-09

申请号：US14562394

申请日：2014-12-05

Applicant: STMicroelectronics S.r.l.

Inventor： Federica Arrigoni ,  Beatrice Rossi ,  Pasqualina Fragneto

IPC: G06T19/20

CPC classification number: G06T19/20 ,  G06T2219/2004 ,  G06T2219/2016

Abstract: The present disclosure is directed to systems and methods to perform absolute rotation estimation including outlier detection via low-rank and sparse matrix decomposition. One example method includes obtaining a relative rotation estimates matrix that includes a plurality of relative rotation estimates. The method includes determining values for a low-rank matrix that result in a desirable value of a cost function that is based on a low-rank and sparse matrix decomposition of the relative rotation estimates matrix. The cost function includes the low-rank matrix and a sparse matrix that is nonzero in correspondence of one or more outliers of the plurality of relative rotation estimates. The method includes determining an absolute rotations matrix that includes a plurality of absolute rotations based at least in part on the values of the low-rank matrix that result in the desirable value of the cost function.

Abstract translation: 本公开涉及用于执行包括通过低阶和稀疏矩阵分解的异常值检测的绝对旋转估计的系统和方法。 一个示例性方法包括获得包括多个相对旋转估计的相对旋转估计矩阵。 该方法包括确定导致基于相对旋转估计矩阵的低秩和稀疏矩阵分解的成本函数的期望值的低阶矩阵的值。 成本函数包括低秩矩阵和对应于多个相对旋转估计中的一个或多个离群值非零的稀疏矩阵。 该方法包括至少部分地基于导致成本函数的期望值的低秩矩阵的值来确定包括多个绝对旋转的绝对旋转矩阵。