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A viewing graph is a set of unknown camera poses, as the vertices, and theobserved relative motions, as the edges. Solving the viewing graph is anessential step in a Structure-from-Motion procedure, where a set of relativemotions is obtained from a collection of 2D images. Almost all methods in theliterature solve for the rotations separately, through rotation averagingprocess, and use them for solving the positions. Obtaining positions is thechallenging part because the translation observations only tell the directionof the motions. It becomes more challenging when the set of edges comprisespairwise translation observations between either near and far cameras. In thispaper an iterative method is proposed that overcomes these issues. Also amethod is proposed which obtains the rotations and positions simultaneously.Experimental results show the-state-of-the-art performance of the proposedmethods.

Solving Viewing Graph Optimization for Simultaneous Position and Rotation Registration