Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition

Federica Arrigoni, Andrea Fusiello, Beatrice Rossi, Pasqualina Fragneto

Published 2015-05-22Version 1

This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition that handles both outliers and missing data. A minimization strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against state-of-the-art algorithms on simulated and real data. The results show that R-GoDec is the fastest among the robust algorithms.