We present a comparison of an extended Kalman lter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational comple...

In January 2004 the High Resolution Stereo Camera (HRSC) on board the ESA mission Mars Express started imaging the surface of planet Mars in colour and stereoscopically in high resolution. The Institute of Photogrammetry and GeoInformation (IPI) of the University of Hannover and the Chair for Photogrammetry and Remote Sensing (LPF) of the Technische Universität München are jointly processing th...

We present an improved bundle adjustment method based on the online learned appearance subspaces of 3D points. Our method incorporates the additional information from the learned appearance models into bundle adjustment. Through the online learning of the appearance models, we are able to include more plausible observations of 2D features across diverse viewpoints. Bundle adjustment can benefit...

This paper focusses on the estimation of exterior orientation parameters of the High Resolution Stereo Camera (HRSC) orbiting planet Mars during the European Mars Express mission since January 2004. One of the challenges for the photogrammetric processing of HRSC images is the low number of Ground Control Points (GCPs) on Mars which can be identified and measured in the images in the usual way....

Photogrammetric network design is the process of optimising a network configuration in terms of the accuracy of object points. This accuracy is improved by selecting the best set of intersection rays in a bundle adjustment. This paper explains the approach followed to achieve the development of a practical network design using a real robotic system. The aim is to integrate a simulation-based ne...

Obtaining 3D models from long image sequences is a major issue in computer vision. One of the main tools used to obtain accurate structure and motion estimates is bundle adjustment. Bundle adjustment is usually performed using nonlinear Newton-type optimizers such as Levenberg-Marquardt which might be quite slow when handling a large number of points or views. We investigate an algorithm for bu...

Obtaining 3d models from large image sequences is a major issue in computer vision. One a the main tools used to obtain accurate structure and motion estimates is bundle adjustment. Bundle adjustment is usually performed using non-linear Newton-type optimizers such as LevenbergMarquardt which might be quite slow when handling a large number of points or views. We propose an algorithm for bundle...