NDLI: Bundle adjustment without iterative structure estimation and its application to navigation

Content Provider	IEEE Xplore Digital Library
Author	Indelman, V.
Copyright Year	2012
Description	Author affiliation: College of Computing, Georgia Institute of Technology, Atlanta, 30332, USA (Indelman, V.)
Abstract	This paper describes a new approach for bundle adjustment (BA), which is based on a non-linear optimization of only the camera pose for all the views in a given sequence of images and does not involve iterative structure estimation. If required, structure reconstruction can be performed based on the camera matrices after convergence of the optimization process. Instead of applying the projection equations, the cost function being optimized in the suggested approach is based on the three-view geometry constraints that should be satisfied for any three views with a common overlapping area. Significant reduction in computational complexity is obtained compared to a standard BA, since the number of unknown parameters participating in the iterative optimization is much smaller. The optimization problem is formulated relative to the camera pose of the first view, as commonly used in robotics navigation aplications. The proposed method is demonstrated on a publiclly available dataset of real images and the optimized camera pose and the recovered structure are compared to the ground truth.
Starting Page	748
Ending Page	756
File Size	2071863
Page Count	9
File Format	PDF
ISBN	9781467303859
ISSN	21533598
e-ISBN	9781467303873
DOI	10.1109/PLANS.2012.6236952
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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