mlsanityData to 14 Oct 2026

HARA: A Hierarchical Approach for Robust Rotation Averaging

arXiv 2111.08831 ↗First posted 16 Nov 2021cs.CVcited by 23

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Abstract (arXiv)

We propose a novel hierarchical approach for multiple rotation averaging, dubbed HARA. Our method incrementally initializes the rotation graph based on a hierarchy of triplet support. The key idea is to build a spanning tree by prioritizing the edges with many strong triplet supports and gradually adding those with weaker and fewer supports. This reduces the risk of adding outliers in the spanning tree. As a result, we obtain a robust initial solution that enables us to filter outliers prior to nonlinear optimization. With minimal modification, our approach can also integrate the knowledge of the number of valid 2D-2D correspondences. We perform extensive evaluations on both synthetic and real datasets, demonstrating state-of-the-art results.

Key facts. Cited by 23 papers in the map (data through 14 Oct 2026). Builds on 21 of its 70 references that are in the map. First posted on arXiv 16 Nov 2021.

Builds on

21 of 70 references.

References · 21

  1. 2018A micro Lie theory for state estimation in roboticscited by 124
  2. 2016SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Groupcited by 80
  3. 2020Learning multiview 3D point cloud registrationcited by 78
  4. 2020Shonan Rotation Averaging: Global Optimality by Surfing SO(p)ncited by 46
  5. 2014Robust Camera Location Estimation by Convex Programmingcited by 41
  6. 2019NeuRoRA: Neural Robust Rotation Averagingcited by 32
  7. 2019Learning Transformation Synchronizationcited by 29
  8. 2020Message Passing Least Squares Framework and its Application to Rotation Synchronizationcited by 22
  9. 2021Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approachcited by 19
  10. 2015Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutionscited by 18
  11. 2021Rotation Coordinate Descent for Fast Globally Optimal Rotation Averagingcited by 14
  12. 2020Robust Single Rotation Averagingcited by 12
9 more
  1. 2020Rotation-Only Bundle Adjustmentcited by 12
  2. 2021Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphscited by 12
  3. 2015Linear Global Translation Estimation with Feature Trackscited by 9
  4. 2019Triangulation: Why Optimize?cited by 9
  5. 2020On the Distribution of Minima in Intrinsic-Metric Rotation Averagingcited by 9
  6. 2019Visual SLAM: Why Bundle Adjust?cited by 8
  7. 2019Efficient and Robust Registration on the 3D Special Euclidean Groupcited by 6
  8. 2020Geometric Interpretations of the Normalized Epipolar Errorcited by 6
  9. 2020Robust Uncertainty-Aware Multiview Triangulationcited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 1; 2023: 6; 2024: 6; 2025: 6; 2026: 4.

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  1. 2023Robust Multiview Point Cloud Registration with Reliable Pose Graph Initialization and History Reweightingcited by 19
  2. 2026Advances in Global Solvers for 3D Visioncited by 13
  3. 2023Robust Single Rotation Averaging Revisitedcited by 6
  4. 2022What's Wrong with the Absolute Trajectory Error?cited by 4
  5. 2023From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguationcited by 4
  6. 2024Alignment Scores: Robust Metrics for Multiview Pose Accuracy Evaluationcited by 3
  7. 2025FUSER: Feed-Forward MUltiview 3D Registration Transformer and SE(3)N Diffusion Refinementcited by 3
  8. 20243D Registration in 30 Years: A Surveycited by 2
  9. 2025A Taxonomy of Structure from Motion Methodscited by 2
  10. 2025Equivariant Flow Matching for Point Cloud Assemblycited by 2
  11. 2023Recovering Simultaneously Structured Data via Non-Convex Iteratively Reweighted Least Squarescited by 1
  12. 2023Incremental Rotation Averaging Revisitedcited by 1
11 more
  1. 2024Rotation Averaging: A Primal-Dual Method and Closed-Forms in Cycle Graphscited by 1
  2. 2025Robustness of Generalized Median Computation for Consensus Learning in Arbitrary Spacescited by 1
  3. 2025Matching Distance and Geometric Distribution Aided Learning Multiview Point Cloud Registrationcited by 1
  4. 2023EAR-Net: Pursuing End-to-End Absolute Rotations from Multi-View Imagescited by 0
  5. 2024PRAGO: Differentiable Multi-View Pose Optimization From Objectness Detectionscited by 0
  6. 2024Mitigating Heterogeneity among Factor Tensors via Lie Group Manifolds for Tensor Decomposition Based Temporal Knowledge Graph Embeddingcited by 0
  7. 2024Multiple Rotation Averaging with Constrained Reweighting Deep Matrix Factorizationcited by 0
  8. 2025Making Rotation Averaging Fast and Robust with Anisotropic Coordinate Descentcited by 0
  9. 2026HETA++: Global Structure-from-Motion with Hybrid Explicit Translation Averagingcited by 0
  10. 2026Spectral Consistency-Guided Multiview Point Cloud Registration for Low-Overlap Scenescited by 0
  11. 2026MemReg: Streaming Outdoor LiDAR Point Cloud Registration with Hybrid Memory Bufferscited by 0