Related papers: Revisiting Rolling Shutter Bundle Adjustment: Towa…
The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages,…
Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…
A core component of all Structure from Motion (SfM) approaches is bundle adjustment. As the latter is a computational bottleneck for larger blocks, parallel bundle adjustment has become an active area of research. Particularly,…
In this paper, we develop a modified differential Structure from Motion (SfM) algorithm that can estimate relative pose from two consecutive frames despite of Rolling Shutter (RS) artifacts. In particular, we show that under constant…
Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) algorithm are limited by the bottleneck in solving the Reduced Camera System (RCS) whose dimension is proportional to the camera number. When the problem is scaled up,…
In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for…
We propose a novel rolling shutter bundle adjustment method for neural radiance fields (NeRF), which utilizes the unordered rolling shutter (RS) images to obtain the implicit 3D representation. Existing NeRF methods suffer from low-quality…
We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…
The bundle adjustment (BA) algorithm is a widely used nonlinear optimization technique in the backend of Simultaneous Localization and Mapping (SLAM) systems. By leveraging the co-view relationships of landmarks from multiple perspectives,…
We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences. In contrast to traditional bundle adjustment (BA) where the optimal…
Neural Radiance Fields (NeRF) has received much attention recently due to its impressive capability to represent 3D scene and synthesize novel view images. Existing works usually assume that the input images are captured by a global shutter…
Bundle adjustment (BA) is the problem of refining a visual reconstruction to produce better structure and viewing parameter estimates. This problem is often formulated as a nonlinear least squares problem, where data arises from interest…
In this paper, we investigate the challenges associated with using egocentric devices to photorealistic reconstruct the scene in high dynamic range. Existing methodologies typically assume using frame-rate 6DoF pose estimated from the…
Structure from motion using uncalibrated multi-camera systems is a challenging task. This paper proposes a bundle adjustment solution that implements a baseline constraint respecting that these cameras are static to each other. We assume…
Photometric bundle adjustment (PBA) is widely used in estimating the camera pose and 3D geometry by assuming a Lambertian world. However, the assumption of photometric consistency is often violated since the non-diffuse reflection is common…