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Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation.
Problem 65-1: A Least Squares Estimate of Satellite Attitude
Grace Wahba · 1965
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Dynamics of atmospheric flight
Bernard Etkin · 1972
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An Antipodally Symmetric Distribution on the Sphere
Christopher Bingham · 1974
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On Differentiating Eigenvalues and Eigenvectors
Jan R. Magnus · 1985
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Quaternion feedback for spacecraft large angle maneuvers
Bong Wie and Peter M. Barba · 1985
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Closed-form solution of absolute orientation using unit quaternions
Berthold K. P. Horn · 1987
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Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors
James Diebel · 2006
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Averaging Quaternions
F. Landis Markley, Yang Cheng, John L. Crassidis, and Yaakov Oshman · 2007
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Visual Odometry [Tutorial]
Davide Scaramuzza and Friedrich Fraundorfer · 2011
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Finding the Exact Rotation between Two Images Independently of the Translation
Laurent Kneip, Roland Siegwart, and Marc Pollefeys · 2012
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Vision meets robotics: The KITTI dataset
A Geiger, P Lenz, C Stiller, and R Urtasun · 2013
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Tracking 3-D Rotations with the Quaternion Bingham Filter
Jared Glover and Leslie Pack Kaelbling · 2013
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Rotation Averaging
Richard Hartley, Jochen Trumpf, Yuchao Dai, and Hongdong Li · 2013
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Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization
L Carlone, R Tron, K Daniilidis, and F Dellaert · 2015
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ShapeNet: An Information-Rich 3D Model Repository
Angel X. Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, and Fisher Yu · 2015
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Uncertainty Propagation of correlated quaternion and Euclidean states using partially-conditioned Gaussian mixtures
J. E. Darling and K. J. DeMars · 2016
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Yarin Gal · 2016
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Ian Osband, Charles Blundell, Alexander Pritzel, and Benjamin Van Roy · 2016
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A micro Lie theory for state estimation in robotics
Joan Solà, Jeremie Deray, and Dinesh Atchuthan · 2018
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Learning to Find Good Correspondences
Kwang Moo Yi, Eduard Trulls, Yuki Ono, Vincent Lepetit, Mathieu Salzmann, and Pascal Fua · 2018
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Eric Brachmann and Carsten Rother · 2019
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On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)
Reinhard M. Grassmann and Jessica Burgner-Kahrs · 2019
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Differentiable Algorithm Networks for Composable Robot Learning
Peter Karkus, Xiao Ma, David Hsu, Leslie Kaelbling, Wee Sun Lee, and Tomas Lozano-Perez · 2019
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Suvrit Sra · 2016
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State Estimation for Robotics
Timothy D. Barfoot · 2017
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Safe Visual Navigation via Deep Learning and Novelty Detection
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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 · 2019
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Understanding the Limitations of CNN-Based Absolute Camera Pose Regression
Torsten Sattler, Qunjie Zhou, Marc Pollefeys, and Laura Leal-Taixe · 2019
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BA-Net: Dense bundle adjustment networks
Chengzhou Tang and Ping Tan · 2019
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Deep closest point: Learning representations for point cloud registration
Yue Wang and Justin M. Solomon · 2019
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A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang and Luca Carlone · 2019
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Deep Orientation Uncertainty Learning based on a Bingham Loss
Igor Glitschenski, Wilko Schwarting, Roshni Sahoo, Alexander Amini, Sertac Karaman, and Daniela Rus · 2020
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Alexander Meinke and Matthias Hein · 2020
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