SINGULARITY-FREE BUNDLE ADJUSTMENT
نویسندگان
چکیده
منابع مشابه
Incremental Light Bundle Adjustment
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...
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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...
متن کاملConjugate Gradient Bundle Adjustment
Bundle adjustment for multi-view reconstruction is traditionally done using the Levenberg-Marquardt algorithm with a direct linear solver, which is computationally very expensive. An alternative to this approach is to apply the conjugate gradients algorithm in the inner loop. This is appealing since the main computational step of the CG algorithm involves only a simple matrix-vector multiplicat...
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ژورنال
عنوان ژورنال: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
سال: 2020
ISSN: 2194-9050
DOI: 10.5194/isprs-annals-v-2-2020-43-2020