| Title: |
Synchronization of rotations via Riemannian trust-regions |
| Authors: |
Boumal, Nicolas; Singer, Amit; Absil, Pierre-Antoine; SIAM Conference on Applied Linear Algebra (SIAM/LA) |
| Contributors: |
UCL - SST/ICTM/INMA - Pôle en ingénierie mathématique |
| Publication Year: |
2012 |
| Collection: |
DIAL@USL-B (Université Saint-Louis, Bruxelles) |
| Description: |
We estimate unknown rotation matrices $R_i\in\textrm{SO}(n=2,3)$ from a set of measurements of relative rotations $R_i^{}R_j^T$. Each measurement is either slightly noisy, or an outlier bearing no information. We study the case where most measurements are outliers. In (A.~Singer, \emph{Angular Synchronization by Eigenvectors and Semidefinite Programming}, ACHA~30(1), pp.~20--36, 2011), an estimator is computed from a dominant subspace of a matrix. We observe this essentially results in least-squares estimation, and propose instead a Maximum Likelihood Estimator, explicitly acknowledging outliers. We compute the MLE via trust-region optimization on a matrix manifold. Comparison of our estimator with Riemannian Cram\'er-Rao bounds suggests efficiency. |
| Document Type: |
conference object |
| Language: |
English |
| Relation: |
boreal:137548; http://hdl.handle.net/2078.1/137548 |
| Availability: |
http://hdl.handle.net/2078.1/137548 |
| Rights: |
info:eu-repo/semantics/openAccess |
| Accession Number: |
edsbas.7FA3D504 |
| Database: |
BASE |