SBA

ACM Transactions on Mathematical Software - Tập 36 Số 1 - Trang 1-30 - 2009
Manolis Lourakis1, Antonis Argyros1
1Foundation for Research and Technology—Hellas

Tóm tắt

Bundle adjustment constitutes a large, nonlinear least-squares problem that is often solved as the last step of feature-based structure and motion estimation computer vision algorithms to obtain optimal estimates. Due to the very large number of parameters involved, a general purpose least-squares algorithm incurs high computational and memory storage costs when applied to bundle adjustment. Fortunately, the lack of interaction among certain subgroups of parameters results in the corresponding Jacobian being sparse, a fact that can be exploited to achieve considerable computational savings. This article presents sba, a publicly available C/C++ software package for realizing generic bundle adjustment with high efficiency and flexibility regarding parameterization.

Từ khóa


Tài liệu tham khảo

10.1145/1024074.1024081

Anderson E. Bai Z. Bischof C. Blackford S. Demmel J. Dongarra J. Croz J. D. Greenbaum A. Hammarling S. McKenney A. and Sorensen D. 1999. LAPACK Users' Guide 3rd ed. SIAM Philadelphia PA. Anderson E. Bai Z. Bischof C. Blackford S. Demmel J. Dongarra J. Croz J. D. Greenbaum A. Hammarling S. McKenney A. and Sorensen D. 1999. LAPACK Users' Guide 3rd ed. SIAM Philadelphia PA.

Barrett R., Templates for the Solution of Linear Systems: Building Blocks for Iterative Methods, 2

Beardsley P., Proceedings of the. European Conference on Computer Vision. Springer-Verlag

10.1016/j.cviu.2007.07.003

10.1109/ISMAR.2006.297813

Brooks M., What value covariance information in estimating vision parameters&quest

Brown D. 1958. A solution to the general problem of multiple station analytical stereo triangulation. Tech. rep. 43. RCA-MTP. Feb. Brown D. 1958. A solution to the general problem of multiple station analytical stereo triangulation. Tech. rep. 43. RCA-MTP. Feb.

10.1145/1391989.1391995

Conn A. Gould N. and Toint P. 2000. Trust Region Methods. MPS-SIAM Series On Optimization. SIAM Philadelphia PA. Conn A. Gould N. and Toint P. 2000. Trust Region Methods. MPS-SIAM Series On Optimization. SIAM Philadelphia PA.

10.1145/1114268.1114277

Demmel J., Applied Numerical Linear Algebra. Titles in Applied Mathematics

10.1137/S0895479895291765

Dennis J., State of the Art in Numerical Analysis

10.1145/355958.355965

Dennis J. and Schnabel R. 1996. Numerical Methods for Unconstrained Optimization and Nonlinear Equations. Classics in Applied Mathematics. SIAM Publications Philadelphia PA. Dennis J. and Schnabel R. 1996. Numerical Methods for Unconstrained Optimization and Nonlinear Equations. Classics in Applied Mathematics. SIAM Publications Philadelphia PA.

Fitzgibbon A., Proceedings of the European Conference on Computer Vision. Springer-Verlag

Gay D., Usage summary for selected optimization routines. Tech. rep. 153. AT&T Bell Laboratories

Golub G., Matrix Computations, 3

10.1145/229473.229474

Hartley R., Applications of Invariance in Computer Vision

Hartley R. and Zisserman A. 2000. Multiple View Geometry in Computer Vision 1st ed. Cambridge University Press Cambridge MA. Hartley R. and Zisserman A. 2000. Multiple View Geometry in Computer Vision 1st ed. Cambridge University Press Cambridge MA.

10.1145/355934.355935

10.1364/JOSAA.4.000629

Irschara A., Proceedings of the International Conference on Computer Vision. IEEE Press

Kelley C., Iterative Methods for Optimization, 10.1137/1.9781611970920

10.1063/1.168600

10.1090/qam/10666

10.1016/j.cviu.2005.02.001

10.1109/ICCV.2005.128

10.1023/B:VISI.0000029664.99615.94

10.1109/34.862199

Madsen K. Nielsen H. and Tingleff O. 2004. Methods for non-linear least squares problems. Technical University of Denmark. Lecture notes. http://www.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf. Madsen K. Nielsen H. and Tingleff O. 2004. Methods for non-linear least squares problems. Technical University of Denmark. Lecture notes. http://www.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf.

10.1137/0111030

Moré J., The Levenberg Marquardt algorithm: implementation and theory

Moré J. Garbow B. and Hillstrom K. 1980. User guide for MINPACK-1. Tech. rep. ANL-80-74. Argonne National Laboratory Argonne IL. Moré J. Garbow B. and Hillstrom K. 1980. User guide for MINPACK-1. Tech. rep. ANL-80-74. Argonne National Laboratory Argonne IL.

10.1137/0904038

Mundy J. and Zisserman A. 1992. Projective geometry for machine vision. In Geometric Invariance in Computer Vision J. Mundy and A. Zisserman Eds. MIT Press Cambridge MA 463--519. Mundy J. and Zisserman A. 1992. Projective geometry for machine vision. In Geometric Invariance in Computer Vision J. Mundy and A. Zisserman Eds. MIT Press Cambridge MA 463--519.

Nielsen H., Damping parameter in Marquardt's method. Tech. rep. IMM-REP-1999-05

Nocedal J. and Wright S. 1999. Numerical Optimization. Springer New York NY. Nocedal J. and Wright S. 1999. Numerical Optimization. Springer New York NY.

10.1023/B:VISI.0000025798.50602.3a

Prasolov V., Problems and Theorems in Linear Algebra, 10.1090/mmono/134

Semple J. and Kneebone G. 1952. Algebraic Projective Geometry. Oxford University Press Oxford U.K. Semple J. and Kneebone G. 1952. Algebraic Projective Geometry. Oxford University Press Oxford U.K.

Shi J., Proceedings of the International Conference on Computer Vision and Pattern Recognition. IEEE Press

Shum H.-Y., Proceedings of the International Conference on Computer Vision and Pattern Recognition., 2

Slama C., Manual of Photogrammetry, ed

10.1145/1141911.1141964

Sünderhauf N. Konolige K. Lacroix S. and Protzel P. 2005. Visual odometry using sparse bundle adjustment on an autonomous outdoor vehicle. In Autonome Mobile Systeme 2005 P. Levi M. Schanz R. Lafrenz and V. Avrutin Eds. Informatik Aktuell. Springer Verlag Berlin Germany 157--163. Sünderhauf N. Konolige K. Lacroix S. and Protzel P. 2005. Visual odometry using sparse bundle adjustment on an autonomous outdoor vehicle. In Autonome Mobile Systeme 2005 P. Levi M. Schanz R. Lafrenz and V. Avrutin Eds. Informatik Aktuell. Springer Verlag Berlin Germany 157--163.

10.1006/jvci.1994.1002

Templeton T., Proceedings of the IEEE ICRA'07

10.5555/646271.685629

Vicci L., Quaternions and rotations in 3-space: The algebra and its geometric interpretation. Tech. rep. TR01-014. Dept. of Computer Science

10.1109/ICCV.2005.40

10.1016/0004-3702(95)00022-4

Zhang Z., Proceedings of the International Conference on Image Processing., 2

Thông tin
Thông tin xuất bản

ACM Transactions on Mathematical Software

Tập 36 Số 1

1-30

Thông tin tác giả