Bundle Adjustment — A Modern Synthesis

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics c...

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Hauptverfasser: Triggs, Bill, McLauchlan, Philip F., Hartley, Richard I., Fitzgibbon, Andrew W.
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.
ISSN:0302-9743
1611-3349
DOI:10.1007/3-540-44480-7_21