Paper ID: 2111.11723

A new dynamical model for solving rotation averaging problem

Zinaid Kapić, Aladin Crnkić, Vladimir Jaćimović, Nevena Mijajlović

The paper analyzes the rotation averaging problem as a minimization problem for a potential function of the corresponding gradient system. This dynamical system is one generalization of the famous Kuramoto model on special orthogonal group SO(3), which is known as the non-Abelian Kuramoto model. We have proposed a novel method for finding weighted and unweighted rotation average. In order to verify the correctness of our algorithms, we have compared the simulation results with geometric and projected average using real and random data sets. In particular, we have discovered that our method gives approximately the same results as geometric average.

Submitted: Nov 23, 2021