Bundle Adjustment -- A Modern Synthesis

Abstract : 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.
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Bill Triggs, Philip Mclauchlan, Richard Hartley, Andrew Fitzgibbon. Bundle Adjustment -- A Modern Synthesis. International Workshop on Vision Algorithms, Sep 2000, Corfu, Greece. pp.298--372, ⟨10.1007/3-540-44480-7_21⟩. ⟨inria-00548290⟩

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