TriDE refines unreliable pairwise translation directions through message passing on weighted triangles in the viewing graph and provides a phase-transition bound for exact recovery under random corruption.
For smallσ0 in radians, bσ0 = r π 2 σ0 +O(σ 3 0), and atσ 0 = 1◦,b σ0 ≈0.022
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TriDE: Triangle-Consistent Translation Directions for Global Camera Pose Estimation
TriDE refines unreliable pairwise translation directions through message passing on weighted triangles in the viewing graph and provides a phase-transition bound for exact recovery under random corruption.