相关论文: Stochastic Bundle Adjustment for Efficient and Sca…

We propose a distributed bundle adjustment (DBA) method using the exact Levenberg-Marquardt (LM) algorithm for super large-scale datasets. Most of the existing methods partition the global map to small ones and conduct bundle adjustment in…

In this paper we develop a quantum optimization algorithm and use it to solve the bundle adjustment problem with a simulated quantum computer. Bundle adjustment is the process of optimizing camera poses and sensor properties to best…

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,…

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 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…

3D reconstruction has been developing all these two decades, from moderate to medium size and to large scale. It's well known that bundle adjustment plays an important role in 3D reconstruction, mainly in Structure from Motion(SfM) and…

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,…

Bundle adjustment is the common way to solve localization and mapping. It is an iterative process in which a system of non-linear equations is solved using two optimization methods, weighted by a damping factor. In the classic approach, the…

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…

Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images…

This paper proposes a data-driven version of the Benders decomposition algorithm applied to the stochastic unit commitment (SUC) problem. The proposed methodology aims at finding a trade-off between the size of the Benders master problem…

Bundle adjustment jointly optimizes camera intrinsics and extrinsics and 3D point triangulation to reconstruct a static scene. The triangulation constraint, however, is invalid for moving points captured in multiple unsynchronized videos…

This paper addresses the limitations of conventional vector quantization algorithms, particularly K-Means and its variant K-Means++, and investigates the Stochastic Quantization (SQ) algorithm as a scalable alternative for high-dimensional…

Benders decomposition is widely used to solve large mixed-integer problems. This paper takes advantage of machine learning and proposes enhanced variants of Benders decomposition for solving two-stage stochastic security-constrained unit…

A challenge in high-dimensional inverse problems is developing iterative solvers to find the accurate solution of regularized optimization problems with low computational cost. An important example is computed tomography (CT) where both…

Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…

In this paper, we propose a scalable algorithm for spectral embedding. The latter is a standard tool for graph clustering. However, its computational bottleneck is the eigendecomposition of the graph Laplacian matrix, which prevents its…

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…

The Bundle Adjustment (BA) model is commonly optimized using a nonlinear least squares method, with the Levenberg-Marquardt (L-M) algorithm being a typical choice. However, despite the L-M algorithm's effectiveness, its sensitivity to…

We consider randomized block coordinate stochastic mirror descent (RBSMD) methods for solving high-dimensional stochastic optimization problems with strongly convex objective functions. Our goal is to develop RBSMD schemes that achieve a…