Bundle Adjustment -- A Modern Synthesis
Résumé
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.
Fichier principal
Triggs-va99.pdf (586.75 Ko)
Télécharger le fichier
Triggs-visalgs99-bundle-slides.pdf (373.24 Ko)
Télécharger le fichier
Origine | Fichiers produits par l'(les) auteur(s) |
---|
Format | Autre |
---|