The main contribution of this paper is a novel feature parametrization based on parallax angles for bundle adjustment (BA) in structure and motion estimation from monocular images. It is demonstrated that under certain conditions, describing feature locations using their Euclidean XYZ coordinates or using inverse depth in BA leads to ill-conditioned normal equations as well as objective functio...

In this paper, we present a graph based approach for performing the system calibration of a sensor suite containing a fixed mounted camera and an inertial navigation system. The aim of the presented work is to obtain accurate direct georeferencing of camera images collected with small unmanned aerial systems. Prerequisite for using the pose measurements from the inertial navigation system as ex...

We present a novel approach for a rigorous bundle adjustment for omnidirectional and multi-view cameras, which enables an efficient maximum-likelihood estimation with image and scene points at infinity. Multi-camera systems are used to increase the resolution, to combine cameras with different spectral sensitivities (Z/I DMC, Vexcel Ultracam) or – like omnidirectional cameras – to augment the e...

Large-scale 3D reconstruction has received a lot of attention recently. Bundle adjustment is a key component of the reconstruction pipeline and often its slowest and most computational resource intensive. It hasn’t been parallelized effectively so far. In this paper, we present a hybrid implementation of sparse bundle adjustment on the GPU using CUDA, with the CPU working in parallel. The algor...

Point-based methods undertaken by experienced human operators are very effective for traditional photogrammetric activities, but they are not appropriate in the autonomous environment of digital photogrammetry. To develop more reliable and accurate techniques, higher level objects with linear features accommodating elements other than points are alternatively adopted for aerial triangulation. E...

We address the problem of camera motion and 3D structure reconstruction from line correspondences across multiple views, from initialization to final bundle adjustment. One of the main difficulties when dealing with line features is their algebraic representation. First, we consider the triangulation problem. Based on Plücker coordinates to represent the 3D lines, we propose a maximum likelihoo...

Camera calibration is one of the fundamental photogrammetric tasks. The standard procedure is to apply an iterative adjustment to measurements of known control points. The iterative adjustment needs initial values of internal and external parameters. In this paper we investigate a procedure where only one parameter — the focal length is given a specific initial value. The procedure is validated...

This paper describes a new method to calibrate the intrinsic and extrinsic parameters of a generalized catadioptric camera (central or non-central) if correspondences between incident lines in space and pixels are provided (black box model calibration) in an arbitrary world reference frame. The parameters calibrated are the intrinsic parameters of the pinhole camera, the coefficients of the mir...

This paper presents a novel stereo SLAM framework, where a robust loop chain matching scheme for tracking keypoints is combined with an effective frame selection strategy. The proposed approach, referred to as selective SLAM (SSLAM), relies on the observation that the error in the pose estimation propagates from the uncertainty of the three-dimensional points. This is higher for distant points,...

Direct use of denoising and mesh reconstruction algorithms on point clouds originating from multi-view images is often oblivious to the reprojection error. This can be a severe limitation in applications which require accurate point tracking, e.g., metrology. In this paper, we propose a method for improving the quality of such data without forfeiting the original matches. We formulate the probl...