# Incremental Rotation Averaging Revisited

arXiv: https://arxiv.org/abs/2309.16924 · HTML: https://mlsanity.com/paper/2309.16924/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 56 references that are in the map.
- First posted on arXiv 29 Sep 2023.

## Builds on (most cited first, 17 of 17)

- [Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n](https://mlsanity.com/paper/2008.02737/) (2020)
- [Robust Camera Location Estimation by Convex Programming](https://mlsanity.com/paper/1412.0165/) (2014)
- [NeuRoRA: Neural Robust Rotation Averaging](https://mlsanity.com/paper/1912.04485/) (2019)
- [Baseline Desensitizing In Translation Averaging](https://mlsanity.com/paper/1901.00643/) (2019)
- [HARA: A Hierarchical Approach for Robust Rotation Averaging](https://mlsanity.com/paper/2111.08831/) (2021)
- [Message Passing Least Squares Framework and its Application to Rotation Synchronization](https://mlsanity.com/paper/2007.13638/) (2020)
- [Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach](https://mlsanity.com/paper/2101.09116/) (2021)
- [Revisiting Rotation Averaging: Uncertainties and Robust Losses](https://mlsanity.com/paper/2303.05195/) (2023)
- [Stochastic Bundle Adjustment for Efficient and Scalable 3D Reconstruction](https://mlsanity.com/paper/2008.00446/) (2020)
- [Rotation Coordinate Descent for Fast Globally Optimal Rotation Averaging](https://mlsanity.com/paper/2103.08292/) (2021)
- [Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphs](https://mlsanity.com/paper/2109.08046/) (2021)
- [Parallel Structure from Motion for UAV Images via Weighted Connected Dominating Set](https://mlsanity.com/paper/2206.11499/) (2022)
- [Robust Group Synchronization via Quadratic Programming](https://mlsanity.com/paper/2206.08994/) (2022)
- [RAGO: Recurrent Graph Optimizer For Multiple Rotation Averaging](https://mlsanity.com/paper/2212.07211/) (2022)
- [On the Distribution of Minima in Intrinsic-Metric Rotation Averaging](https://mlsanity.com/paper/2003.08310/) (2020)
- [TSAR-MVS: Textureless-aware Segmentation and Correlative Refinement Guided Multi-View Stereo](https://mlsanity.com/paper/2308.09990/) (2023)
- [Complete Scene Reconstruction by Merging Images and Laser Scans](https://mlsanity.com/paper/1904.09568/) (2019)

## Built on by (most cited first, 1 of 1)

- [Efficient Detection of Long Consistent Cycles and its Application to Distributed Synchronization](https://mlsanity.com/paper/2407.04260/) (2024)

## Abstract (arXiv)

In order to further advance the accuracy and robustness of the incremental parameter estimation-based rotation averaging methods, in this paper, a new member of the Incremental Rotation Averaging (IRA) family is introduced, which is termed as IRAv4. As its most significant feature, a task-specific connected dominating set is extracted in IRAv4 to serve as a more reliable and accurate reference for rotation local-to-global alignment. This alignment reference is incrementally constructed, together with the absolute rotations of the vertices belong to it simultaneously estimated. Comprehensive evaluations are performed on the 1DSfM dataset, by which the effectiveness of both the reference construction method and the entire rotation averaging pipeline proposed in this paper is demonstrated.