FAST AND RESISTANT PROCRUSTEAN BUNDLE ADJUSTMENT
نویسندگان
چکیده
منابع مشابه
Bundle adjustment: a fast method with weak initialisation
Bundle adjustment is one of the cornerstone to recover the scene structure from a sequence of images. The main drawback of this technique, due to nonlinear optimisation, is the need of initial conditions for intrinsic and extrinsic camera parameters and for the 3D structure that we want to reconstruct. In this paper, we demonstrate that we can reduce, comparatively to the standard approach, the...
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Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structure-less SFM (structure from motion) and incremental smoothing. The former formulates the cost function in terms of multi-view constraints instead of re-projection errors, thereby eliminating the 3D s...
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In this paper we investigate the status of bundle adjustment as a component of a real-time camera tracking system and show that with current computing hardware a significant amount of bundle adjustment can be performed every time a new frame is added, even under stringent real-time constraints. We also show, by quantifying the failure rate over long video sequences, that the bundle adjustment i...
متن کاملRobust Bundle Adjustment Revisited
In this work we address robust estimation in the bundle adjustment procedure. Typically, bundle adjustment is not solved via a generic optimization algorithm, but usually cast as a nonlinear leastsquares problem instance. In order to handle gross outliers in bundle adjustment the least-squares formulation must be robustified. We investigate several approaches to make least-squares objectives ro...
متن کاملSparse Sparse Bundle Adjustment
Sparse Bundle Adjustment (SBA) is a method for simultaneously optimizing a set of camera poses and visible points. It exploits the sparse primary structure of the problem, where connections exist just between points and cameras. In this paper, we implement an efficient version of SBA for systems where the secondary structure (relations among cameras) is also sparse. The method, which we call Sp...
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ژورنال
عنوان ژورنال: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2016
ISSN: 2194-9050
DOI: 10.5194/isprs-annals-iii-3-35-2016