This paper introduces a globally optimal algorithm for obtaining the rotational displacement between the coordinate frames of a rotation sensor and a camera that are rigidly attached. Our method minimizes the geometrically meaningful error using a branch-and-bound algorithm to find the global solution. For this, we derive a bounding inequality and corresponding feasibility problem for a top-down efficient search over the rotation space to minimize the L1-, L2-, or L infinity- norm error function. Experiments are performed with synthetic and real data sets to show the efficacy of the algorithm. (C) 2017 Optical Society of America
展开▼
