Transcription of Bundle Adjustment — A Modern Synthesis
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Bundle Adjustment — A Modern Synthesis
Bundle Adjustment A Modern SynthesisBillTriggs1, , , one-Alpes,655avenuedel paper is a survey of the theory and methods of photogrammetricbundleadjustment, :thechoiceofcostfunctionandrobustness;nu mericaloptimizationincludingsparseNewton methods,linearlyconvergentapproximations ,updatingandrecursivemeth-ods; gauge (datum) invariance; and quality control. The theory is developed :BundleAdjustment,SceneReconstruction,Ga ugeFreedom,SparseMa-trices, IntroductionThispaperisasurveyofthetheor yandmethodsofbundleadjustmentaimedatthec omputervisioncommunity, ,butmanyseemtobelittleknowninvision, ,wehopetoforestallsomeofthisduplicationo feffort,correctsomecommonmisconceptions, andspeedprogressinvisual reconstruction by promoting interaction between the vision and adjustmentistheproblemofrefiningavisualr econstructiontoproducejointlyoptimal3D structure and viewing parameter (camera pose and/or calibration) ,andjointlythatthesolutionissimultaneous lyoptimalwith respect to both structure and camera variations.
Bundle Adjustmen t — A Modern Synthesis 301 §B gives some technical details of matrix factorization, updating and covariance calcula- tion methods. §C gives some hints on designing bundle software, and pointers to useful resources on the Internet. The paper ends with a glossary and references. General references: Cultural differences sometimes make it difficult for vision …
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