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Bundle Adjustment with and without Damping
| Content Provider | Semantic Scholar |
|---|---|
| Author | Örlin, N. Iclas B. |
| Copyright Year | 2016 |
| Abstract | The least squares adjustment (LSA) method is studied as an optimisation problem and shown to be equivalent to the undamped Gauss-Newton (GN) optimisation method. Three problem-independent damping modifications of the GN method are presented: the line-search method of Armijo (GNA); the LevenbergMarquardt algorithm (LM); and Levenberg-Marquardt with Powell dogleg (LMP). Furthermore, an additional problem-specific “veto” damping technique, based on the chirality condition, is suggested. In a perturbation study on a terrestrial bundle adjustment problem the GNA and LMP methods with veto damping can increase the size of the pull-in region compared to the undamped method; the LM method showed less improvement. The results suggest that damped methods can, in many cases, provide a solution where undamped methods fail and should be available in any LSA software package. Matlab code for the algorithms discussed is available from the authors. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://umu.diva-portal.org/smash/get/diva2:650796/FULLTEXT03.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Align (company) Approximation algorithm Bundle adjustment Convergence (action) Davidon–Fletcher–Powell formula Euler Experiment Gauss Gauss–Newton algorithm Gna! Grid north Least squares adjustment Levenberg–Marquardt algorithm Lichen Sclerosus et Atrophicus Line search MATLAB Mathematical optimization Newton Perturbation function Photogrammetry Point of View (computer hardware company) Powell's method Terrestrial television Zanamivir |
| Content Type | Text |
| Resource Type | Article |
