NDLI: Bundle adjustment in large-scale 3D reconstructions based on underwater robotic surveys

Content Provider	IEEE Xplore Digital Library
Author	Beall, C. Dellaert, F. Mahon, I. Williams, S.B.
Copyright Year	2011
Description	Author affiliation: Australian Centre for Field Robotics, The University of Sydney, 2006 NSW (Mahon, I.; Williams, S.B.) \|\| College of Computing, Georgia Institute of Technology, Atlanta, GA 30332 (Beall, C.; Dellaert, F.)
Abstract	In this paper we present a technique to generate highly accurate reconstructions of underwater structures by employing bundle adjustment on visual features, rather than relying on a filtering approach using navigational sensor data alone. This system improves upon previous work where an extended information filter was used to estimate the vehicle trajectory. This filtering technique, while very efficient, suffers from the shortcoming that linearization errors are irreversibly incorporated into the vehicle trajectory estimate. This drawback is overcome by applying smoothing and mapping to the full problem. In contrast to the filtering approach, smoothing and mapping techniques solve for the entire vehicle trajectory and landmark positions at once by performing bundle adjustment on all the visual measurements taken at each frame. We formulate a large nonlinear least-squares problem where we minimize the pixel projection error of each of the landmark measurements. The technique is demonstrated on a large-scale underwater dataset, and it is also shown that superior results are achieved with smoothing and mapping as compared to the filtering approach.
Starting Page	1
Ending Page	6
File Size	3776046
Page Count	6
File Format	PDF
ISBN	9781457700866
e-ISBN	9781457700880
DOI	10.1109/Oceans-Spain.2011.6003631
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-06
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Trajectory Three dimensional displays Image reconstruction Robots Smoothing methods Visualization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in