This research report presents a bundle adjustment technique which is independent on camera intrinsic parameters. Standard bundle adjustment techniques consider camera intrinsic parameters as unknowns in the optimization process. The scheme proposed in this report di ers from previous standard techniques since unknown camera intrinsic parameters are computed as a function of the 3D structure and...

To build HiRISE image network with the best possible precision and accuracy, technical issues involving sensor geometry and absolute positioning need to be resolved. High-frequency random patterns, or “jitter”, in the rotation angles cause disagreements between HiRISE CCDs. To generate seamless topographic products, it is important to achieve coherence in the exterior orientation parameters bet...

While the most accurate solution to off-line Structure from Motion (SFM) problems is undoubtedly to extract as much correspondence information as possible and perform batch optimisation, sequential methods suitable for live video streams must approximate this to fit within fixed computational bounds. Two quite different approaches to real-time SFM — also called visual SLAM (Simultaneous Localis...

Bundle adjustment (BA) is essential in many robotics and structurefrom-motion applications. In robotics, often a bundle adjustment solution is desired to be available incrementally as new poses and 3D points are observed. Similarly in batch structure from motion, cameras are typically added incrementally to allow good initializations. Current incremental BA methods quickly become computationall...

Launched in August 2005, the Mars Reconnaissance Orbiter (MRO)’s primary goal is to obtain detailed morphologic information on the Martian surface using its onboard HiRISE sensor with a 0.3-meter ground resolution. However, inconsistencies between HiRISE stereo images must be removed based on the rigorous sensor model for the best level of accuracy. The new rigorous sensor model is developed sp...

It has been proven that DMC images (as images of other digital aerial cameras) are not free of systematic errors in the virtual image space. Not properly modelled estimated exterior orientation can absorb propagated errors in the bundle block adjustment (from different errors sources as image systematic errors, poor GPS/INS observations or insufficient ground control points set up) and could ge...