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Bundle Adjustment - A Modern Synthesis

, , , and . Proceedings of the International Workshop on Vision Algorithms: Theory and Practice, page 298--372. London, UK, UK, Springer-Verlag, (2000)

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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Bundle Adjustment - A Modern Synthesis

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Triggs:1999:BAM:646271.685629
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