Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
ROBUST BUNDLE ADJUSTMENT FOR STRUCTURE FROM MOTION Ji Zhang, Mireille Boutin, Daniel G. Aliaga
 

Summary: ROBUST BUNDLE ADJUSTMENT FOR STRUCTURE FROM MOTION
Ji Zhang, Mireille Boutin, Daniel G. Aliaga
Dept. of Mathematics, School of ECE, Dept. of Computer Science
Purdue University, West Lafayette, IN, USA
ABSTRACT
Structure from motion (SFM) is the problem of reconstructing the
geometry of a scene from a stream of images. In this problem, the
geometry of the scene must be inferred from images, along with the
camera pose parameters. Bundle Adjustment (BA) is a refinement
method used to improve SFM solutions. It consists in simultane-
ously improving a set of initial estimates for all parameters (struc-
ture and camera pose) by minimizing a global cost function. It is
generally considered to be highly accurate, and so is typically used
as a last refinement step in most current SFM methods. Unfortu-
nately, estimating the pose of the camera from a stream of images is
an ill-conditioned problem. We thus propose a BA adjustment for-
mulation which does not involve solving for the camera orientations.
We tested this approach on several real world models. The numeri-
cal results obtained show that this approach is much less affected by
noise than traditional BA.

  

Source: Aliaga, Daniel G. - Department of Computer Sciences, Purdue University
Boutin, Mireille "Mimi" - School of Electrical and Computer Engineering, Purdue University

 

Collections: Computer Technologies and Information Sciences; Mathematics