相关论文: Parallax Bundle Adjustment on Manifold with Convex…

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.…

Bundle adjustment (BA) is a technique for refining sensor orientations of satellite images, while adjustment accuracy is correlated with feature matching results. Feature match-ing often contains high uncertainties in weak/repeat textures,…

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…

Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation…

Classical Bundle Adjustment (BA) is fundamentally limited by its reliance on precise metric initialization and prior camera intrinsics. While modern dense matchers offer high-fidelity correspondences, traditional Structure-from-Motion (SfM)…

The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision. Classically this problem has been solved through the application of bundle adjustment (BA). More recently,…

Most methods for Bundle Adjustment (BA) in computer vision are either centralized or operate incrementally. This leads to poor scaling and affects the quality of solution as the number of images grows in large scale structure from motion…

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…

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…

A recent series of works has shown that initialization-free BA can be achieved using pseudo Object Space Error (pOSE) as a surrogate objective. The initial reconstruction-step optimizes an objective where all terms are projectively…

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…

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…

Depth from Small Motion (DfSM) (Ha et al., 2016) is particularly interesting for commercial handheld devices because it allows the possibility to get depth information with minimal user effort and cooperation. Due to speed and memory issue…

This paper presents Bundle Network, a learning-based algorithm inspired by the Bundle Method for convex non-smooth minimization problems. Unlike classical approaches that rely on heuristic tuning of a regularization parameter, our method…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents $\nu$-DBA, a novel framework implementing geometric dense bundle…

This paper introduces a network architecture to solve the structure-from-motion (SfM) problem via feature-metric bundle adjustment (BA), which explicitly enforces multi-view geometry constraints in the form of feature-metric error. The…

We study convergence rates of the classic proximal bundle method for a variety of nonsmooth convex optimization problems. We show that, without any modification, this algorithm adapts to converge faster in the presence of smoothness or a…

In the literature, there are a few researches to design some parameters in the Proximal Point Algorithm (PPA), especially for the multi-objective convex optimizations. Introducing some parameters to PPA can make it more flexible and…

This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction. We call this least-squares problem…

Bundle adjustment (BA) is a critical technique in various robotic applications such as simultaneous localization and mapping (SLAM), augmented reality (AR), and photogrammetry. BA optimizes parameters such as camera poses and 3D landmarks…