文章基本信息

标题：Resection-Intersection Bundle Adjustment Revisited
本地全文：下载
作者：Ruan Lakemond ; Clinton Fookes ; Sridha Sridharan 等
期刊名称：ISRN Machine Vision
印刷版ISSN：2090-7796
电子版ISSN：2090-780X
出版年度：2013
卷号：2013
DOI：10.1155/2013/261956
出版社：Hindawi Publishing Corporation
摘要：Bundle adjustment is one of the essential components of the computer vision toolbox. This paper revisits the resection-intersection approach, which has previously been shown to have inferior convergence properties. Modifications are proposed that greatly improve the performance of this method, resulting in a fast and accurate approach. Firstly, a linear triangulation step is added to the intersection stage, yielding higher accuracy and improved convergence rate. Secondly, the effect of parameter updates is tracked in order to reduce wasteful computation; only variables coupled to significantly changing variables are updated. This leads to significant improvements in computation time, at the cost of a small, controllable increase in error. Loop closures are handled effectively without the need for additional network modelling. The proposed approach is shown experimentally to yield comparable accuracy to a full sparse bundle adjustment (20% error increase) while computation time scales much better with the number of variables. Experiments on a progressive reconstruction system show the proposed method to be more efficient by a factor of 65 to 177, and 4.5 times more accurate (increasing over time) than a localised sparse bundle adjustment approach.