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Improved rotation vectors averaging #44

Merged
merged 8 commits into from
Sep 23, 2023
Merged

Improved rotation vectors averaging #44

merged 8 commits into from
Sep 23, 2023

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BAILOOL
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@BAILOOL BAILOOL commented Aug 19, 2023 •
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Improved rotation vector averaging using the Quaternion Averaging method described in the paper https://www.acsu.buffalo.edu/~johnc/ave_quat07.pdf

Mean projection error per sequence:

Real Sequences Naive Averaging Quaternion Averaging
Seq00_Stereo_vision 0.372208 0.369823
Seq01_Non-overlapping 0.19613 0.195987
Seq02_Overlapping_multicamera 0.283885 0.283887
Seq03_hybrid 0.16435 0.164234
Seq04_Converging_vision 0.278782 0.278747
Seq05_Non_overlapping_6Cam 0.202215 0.202148
Blender Sequences Naive Averaging Quaternion Averaging
Scenario1 0.021487 0.021487
Scenario2 0.023335 0.023335
Scenario3 0.0146587 0.0146588
Scenario4 0.0176594 0.0176595
Scenario5 0.104494 0.104494

@BAILOOL BAILOOL self-assigned this Aug 19, 2023
@BAILOOL BAILOOL added the enhancement New feature or request label Sep 16, 2023
@BAILOOL BAILOOL marked this pull request as ready for review September 16, 2023 20:59
rameau-fr
rameau-fr reviewed Sep 17, 2023
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Maybe adding the possibility for the user to choose between the median or the rotation averaging might be a good idea? I will wait for your feedback

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rameau-fr
rameau-fr approved these changes Sep 23, 2023
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Sounds good to me!

@BAILOOL BAILOOL merged commit b862d3f into master Sep 23, 2023
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@BAILOOL BAILOOL deleted the feature/improved-rotations-averaging branch September 23, 2023 05:59
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