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The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental routine in many computer vision and robotics applications.
A least squares estimate of satellite attitude
Grace Wahba · 1965
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A generalized solution of the orthogonal procrustes problem
Peter H. Schönemann · 1966
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Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography
Martin A. Fischler and Robert C. Bolles · 1981
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Least-squares fitting of two 3-D point sets
K. Somani Arun, Thomas S. Huang, and Steven D. Blostein · 1987
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Closed-form solution of absolute orientation using unit quaternions
Berthold K. P. Horn · 1987
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Closed-form solution of absolute orientation using orthonormal matrices
Berthold K. P. Horn, Hugh M. Hilden, and Shahriar Negahdaripour · 1988
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Attitude determination using vector observations and the singular value decomposition
F. Landis Markley · 1988
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Estimation and prediction in the presence of unknown but bounded uncertainty: A survey
Mario Milanese · 1989
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Maximum likelihood estimation of spacecraft attitude
Malcolm D. Shuster · 1989
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Robust regression methods for computer vision: A review
Peter Meer, Doron Mintz, Azriel Rosenfeld, and Dong Yoon Kim · 1991
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A method for registration of 3-D shapes
Paul J. Besl and Neil D. McKay · 1992
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A survey of attitude representations
Malcolm D. Shuster · 1993
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Registering multiview range data to create 3d computer objects
Gérard Blais and Martin D. Levine · 1995
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On the unification of line processes, outlier rejection, and robust statistics with applications in early vision
Michael J. Black and Anand Rangarajan · 1996
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A volumetric method for building complex models from range images
Brian Curless and Marc Levoy · 1996
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Quaternions - proposed standard conventions
William G. Breckenridge · 1999
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MLESAC: A new robust estimator with application to estimating image geometry
Philip H. S. Torr and Andrew Zisserman · 2000
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Convex optimization
Stephen Boyd and Lieven Vandenberghe · 2004
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Multiple View Geometry in Computer Vision
Richard Hartley and Andrew Zisserman · 2004
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Distinctive image features from scale-invariant keypoints
David G. Lowe · 2004
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Procrustes problems
John Gower and Garmt B. Dijksterhuis · 2005
Cited alongside, same era.
Surf: speeded up robust features
Herbert Bay, Tinne Tuytelaars, and Luc Van Gool · 2006
Cited alongside, same era.
Subgradients
Stephen Boyd and Lieven Vandenberghe · 2006
Cited alongside, same era.
Fully automatic registration of 3d point clouds
Ameesh Makadia, Alexander Patterson, and Kostas Daniilidis · 2006
Cited alongside, same era.
Survey of nonlinear attitude estimation methods
F. Landis Markley John L. Crassidis and Yang Cheng · 2007
Cited alongside, same era.
A polynomial-time bound for matching and registration with outliers
Carl Olsson, Olof Enqvist, and Fredrik Kahl · 2008
Cited alongside, same era.
Global optimization through rotation space search
Guaranteed outlier removal for rotation search
Álvaro Parra Bustos and Tat-Jun Chin · 2015
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Semidefinite descriptions of the convex hull of rotation matrices
James Saunderson, Pablo A. Parrilo, and Alan S. Willsky · 2015
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On the inclusion of determinant constraints in lagrangian duality for 3D SLAM
Roberto Tron, David M. Rosen, and Luca Carlone · 2015
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SDPNAL+: a majorized semismooth Newton-CG augmented lagrangian method for semidefinite programming with nonnegative constraints
Liuqin Yang, Defeng Sun, and Kim-Chuan Toh · 2015
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A note on probably certifiably correct algorithms
Afonso S. Bandeira · 2016
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Guaranteed outlier removal with mixed integer linear programs
Tat-Jun Chin, Yang Heng Kee, Anders Eriksson, and Frank Neumann · 2016
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Richard I. Hartley and Fredrik Kahl · 2009
Cited alongside, same era.
Fast point feature histograms (FPFH) for 3d registration
Radu Bogdan Rusu, Nico Blodow, and Michael Beetz · 2009
Cited alongside, same era.
ORB: An efficient alternative to SIFT or SURF
Ethan Rublee, Vincent Rabaud, Kurt Konolige, and Gary Bradski · 2011
Cited alongside, same era.
A semidefinite relaxation-based algorithm for robust attitude estimation
Shakil Ahmed, Eric C. Kerrigan, and Imad M. Jaimoukha · 2012
Cited alongside, same era.
Globally optimal consensus set maximization through rotation search
Jean-Charles Bazin, Yongduek Seo, and Marc Pollefeys · 2012
Cited alongside, same era.
Robust fitting for multiple view geometry
Olof Enqvist, Erik Ask, Fredrik Kahl, and Kalle Åström · 2012
Cited alongside, same era.
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Closed-form solutions for estimating a rigid motion from plane correspondences extracted from point clouds
Kourosh Khoshelham · 2016
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Go-ICP: A globally optimal solution to 3D ICP point-set registration
Jiaolong Yang, Hongdong Li, Dylan Campbell, and Yunde Jia · 2016
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Qian-Yi Zhou, Jaesik Park, and Vladlen Koltun · 2016
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The MOSEK optimization toolbox for MATLAB manual. Version 8.1
MOSEK ApS · 2017
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Convex Global 3D Registration with Lagrangian Duality
Jesus Briales and Javier Gonzalez-Jimenez · 2017
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Globally-optimal inlier set maximisation for simultaneous camera pose and feature correspondence
Dylan Campbell, Lars Petersson, Laurent Kneip, and Hongdong Li · 2017
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The maximum consensus problem: recent algorithmic advances
Tat-Jun Chin and David Suter · 2017
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Guaranteed outlier removal for point cloud registration with correspondences
Álvaro Parra Bustos and Tat-Jun Chin · 2018
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Star tracking using an event camera
Tat-Jun Chin and David Suter · 2018
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SE-Sync: a certifiably correct algorithm for synchronization over the Special Euclidean group
David M. Rosen, Luca Carlone, Afonso S. Bandeira, and John J. Leonard · 2018
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A total least-squares estimate for attitude determination
Yang Cheng and John L. Crassidis · 2019
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Modeling perceptual aliasing in SLAM via Discrete–Continuous Graphical Models
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame, and Luca Carlone · 2019
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A polynomial-time solution for robust registration with extreme outlier rates
Heng Yang and Luca Carlone · 2019
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