In this thesis, we developed an RGB-D-based 3D reconstruction framework with a special emphasis on out-of-core bundle adjustment. Our approach is suitable for 3D workpiece reconstruction as well as for the reconstruction of arbitrary scenes. We first acquire RGB-D data of the scene by using a hand-held RGB-D sensor. The acquired depth map is preprocessed to achieve reduced sensor noise. Camera ...

Bundle adjustment is one of the main tools used for multiple view reconstruction. It seeks to refine the estimate of the 3D scene and the view parameter that minimize a certain cost function, e.g. the overall reprojection error. In this paper we propose a new algorithm to simplify the computation of the reprojection error for multiple views. With this algorithm, the bundle adjustment will be ac...

Bundle adjustment is a central part of most visual SLAM and Structure from Motion systems and thus a relevant component of UAVs equipped with cameras. This paper makes two contributions to bundle adjustment. First, we present a novel approach which exploits trifocal constraints, i.e., constraints resulting from corresponding points observed in three camera images, which allows to estimate the c...

In this paper, we introduce the results of automatic registration, bundle adjustment, and DEM generation from panoramic close-range images taken on the 1997 Mars Pathfinder mission. Image registration is based on Förstner interest points, cross-correlation coefficient-based matching, parallax verification, and graph consistency verification. A free-network approach is used for bundle adjustment...

The least squares adjustment (LSA) method is studied as an optimisation problem and shown to be equivalent to the undamped Gauss-Newton (GN) optimisation method. Three problem-independent damping modifications of the GN method are presented: the line-search method of Armijo (GNA); the LevenbergMarquardt algorithm (LM); and Levenberg-Marquardt with Powell dogleg (LMP). Furthermore, an additional...

We propose a new incremental motion estimation algorithm to deal with long image sequences. It applies to a sliding window of triplets of images, but unlike previous approaches, which rely on point matches across three or more views, we also use those points shared only by two views. This is important because matches between two views are more common than those across more views. The problem is...

The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision. Classically this problem has been solved through the application of bundle adjustment (BA). More recently, excellent results have been attained through the application of photometric bundle adjustment (PBA) methods – which directly minimize the photometric error a...