Incremental Fusion of Structure-from-Motion and GPS using Constrained Bundle Adjustment

Abstract : Two problems occur when bundle adjustment (BA) is applied on long image sequences: the large calculation time and the drift (or error accumulation). In recent work, the calculation time is reduced by local BAs applied in an incremental scheme. The drift may be reduced by fusion of GPS and Structure-from-Motion. An existing fusion method is BA minimizing a weighted sum of image and GPS errors. This paper introduces two constrained BAs for fusion, which enforce an upper bound for the reprojection error. These BAs are alternatives to the existing fusion BA, which does not guarantee a small reprojection error and requires a weight as input. Then the three fusion BAs are integrated in an incremental Structure-from-Motion method based on local BA. Lastly, we will compare the fusion results on long monocular image sequences and low cost GPS.
Document type :
Journal articles
Liste complète des métadonnées

Cited literature [11 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01635480
Contributor : Maxime Lhuillier <>
Submitted on : Wednesday, November 15, 2017 - 11:26:12 AM
Last modification on : Tuesday, October 9, 2018 - 9:44:11 AM
Document(s) archivé(s) le : Friday, February 16, 2018 - 1:03:43 PM

File

pPami12.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01635480, version 1

Citation

Maxime Lhuillier. Incremental Fusion of Structure-from-Motion and GPS using Constrained Bundle Adjustment. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2012, 34 (12), pp.2489-2495. ⟨hal-01635480⟩

Share

Metrics

Record views

41

Files downloads

270