Bundle Adjustment - A Modern Synthesis

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

• Type: Conference
• Year: 1999
• Where: ICCVW
• Authors: Bill Triggs, Philip F. McLauchlan, Richard I. Hartley, Andrew W. Fitzgibbon
• Keywords: Bundle Adjustment, Computer Vision, Cost Functions, ICCVW 1999, Photogrammetric Bundle Adjustment