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rameau-fr / MC-Calib

A generic and robust calibration toolbox for multi-camera systems
MIT License
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Improved rotation vectors averaging #44

Closed BAILOOL closed 1 year ago

BAILOOL commented 1 year ago

Improved rotation vector averaging using the Quaternion Averaging method described in the paper https://www.acsu.buffalo.edu/~johnc/ave_quat07.pdf

Mean projection error per sequence:

Real Sequences Naive Averaging Quaternion Averaging
Seq00_Stereo_vision 0.372208 0.369823
Seq01_Non-overlapping 0.19613 0.195987
Seq02_Overlapping_multicamera 0.283885 0.283887
Seq03_hybrid 0.16435 0.164234
Seq04_Converging_vision 0.278782 0.278747
Seq05_Non_overlapping_6Cam 0.202215 0.202148
Blender Sequences Naive Averaging Quaternion Averaging
Scenario1 0.021487 0.021487
Scenario2 0.023335 0.023335
Scenario3 0.0146587 0.0146588
Scenario4 0.0176594 0.0176595
Scenario5 0.104494 0.104494