Solving Viewing Graph Optimization for Simultaneous Position and Rotation Registration

A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is obtained from a collection of 2D images. Almost all methods in the literature solve for the rotations separately, through rotation averaging process, and use them for solving the positions. Obtaining positions is the challenging part because the translation observations only tell the direction of the motions. It becomes more challenging when the set of edges comprises pairwise translation observations between either near and far cameras. In this paper an iterative method is proposed that overcomes these issues. Also a method is proposed which obtains the rotations and positions simultaneously. Experimental results show the-state-of-the-art performance of the proposed methods.