mlsanityData to 7 Oct 2026

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n

arXiv 2008.02737 ↗First posted 6 Aug 2020cs.CVcited by 46

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Abstract (arXiv)

Shonan Rotation Averaging is a fast, simple, and elegant rotation averaging algorithm that is guaranteed to recover globally optimal solutions under mild assumptions on the measurement noise. Our method employs semidefinite relaxation in order to recover provably globally optimal solutions of the rotation averaging problem. In contrast to prior work, we show how to solve large-scale instances of these relaxations using manifold minimization on (only slightly) higher-dimensional rotation manifolds, re-using existing high-performance (but local) structure-from-motion pipelines. Our method thus preserves the speed and scalability of current SFM methods, while recovering globally optimal solutions.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 6 Aug 2020.

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Citing papers per year: 2021: 8; 2022: 5; 2023: 10; 2024: 9; 2025: 9; 2026: 5.

46 papers.

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  1. 2024Global Structure-from-Motion Revisitedcited by 215
  2. 2023LU-NeRF: Scene and Pose Estimation by Synchronizing Local Unposed NeRFscited by 33
  3. 2023Jigsaw: Learning to Assemble Multiple Fractured Objectscited by 26
  4. 2021HARA: A Hierarchical Approach for Robust Rotation Averagingcited by 22
  5. 2021Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approachcited by 19
  6. 2023Revisiting Rotation Averaging: Uncertainties and Robust Lossescited by 18
  7. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  8. 2021Rotation Coordinate Descent for Fast Globally Optimal Rotation Averagingcited by 14
  9. 2021Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphscited by 12
  10. 2026Advances in Global Solvers for 3D Visioncited by 12
  11. 2022Estimation Contracts for Outlier-Robust Geometric Perceptioncited by 11
  12. 2024GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxationcited by 11
34 more
  1. 2022RAGO: Recurrent Graph Optimizer For Multiple Rotation Averagingcited by 10
  2. 2023Chordal Averaging on Flag Manifolds and Its Applicationscited by 9
  3. 2023Distributed Global Structure-from-Motion with a Deep Front-Endcited by 8
  4. 20243D Geometric Shape Assembly via Efficient Point Cloud Matchingcited by 8
  5. 2024A Survey on Computational Solutions for Reconstructing Complete Objects by Reassembling Their Fractured Partscited by 8
  6. 2025Building Rome with Convex Optimizationcited by 8
  7. 2021On the Tightness of Semidefinite Relaxations for Rotation Estimationcited by 7
  8. 2023Rotation Synchronization via Deep Matrix Factorizationcited by 7
  9. 2024An Overview of the Burer-Monteiro Method for Certifiable Robot Perceptioncited by 5
  10. 2021Orthogonal Group Synchronization with Incomplete Measurements: Error Bounds and Linear Convergence of the Generalized Power Methodcited by 4
  11. 2022RL-PGO: Reinforcement Learning-based Planar Pose-Graph Optimizationcited by 4
  12. 2023From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguationcited by 4
  13. 2024Efficient Detection of Long Consistent Cycles and its Application to Distributed Synchronizationcited by 4
  14. 2025Towards Initialization-free Calibrated Bundle Adjustmentcited by 4
  15. 2022Accelerating Certifiable Estimation with Preconditioned Eigensolverscited by 3
  16. 2024Gravity-aligned Rotation Averaging with Circular Regressioncited by 3
  17. 2025HOSt3R: Keypoint-free Hand-Object 3D Reconstruction from RGB imagescited by 3
  18. 2025Certifiably Optimal Anisotropic Rotation Averagingcited by 2
  19. 2025A Taxonomy of Structure from Motion Methodscited by 2
  20. 2025Combinative Matching for Geometric Shape Assemblycited by 2
  21. 2025Fast globally optimal Truncated Least Squares point cloud registration with fixed rotation axiscited by 2
  22. 2021A new dynamical model for solving rotation averaging problemcited by 1
  23. 2022Deep Projective Rotation Estimation through Relative Supervisioncited by 1
  24. 2023Incremental Rotation Averaging Revisitedcited by 1
  25. 2024VICAN: Very Efficient Calibration Algorithm for Large Camera Networkscited by 1
  26. 2024Rotation Averaging: A Primal-Dual Method and Closed-Forms in Cycle Graphscited by 1
  27. 2026Quantum Multiple Rotation Averagingcited by 1
  28. 2023LOSTU: Fast, Scalable, and Uncertainty-Aware Triangulationcited by 0
  29. 2023Multi-Irreducible Spectral Synchronization for Robust Rotation Averagingcited by 0
  30. 2025Making Rotation Averaging Fast and Robust with Anisotropic Coordinate Descentcited by 0
  31. 2025MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motioncited by 0
  32. 2026Certifiable Factor Graph Optimizationcited by 0
  33. 2026HETA++: Global Structure-from-Motion with Hybrid Explicit Translation Averagingcited by 0
  34. 2026Triangulation-Free Bundle Adjustment with Graduated Non-Convexity for Camera Pose Refinement from Coarse Priorscited by 0