Is Levenberg-Marquardt the Most Efficient Optimization Algorithm for Implementing Bundle Adjustment?

In order to obtain optimal 3D structure and viewing parameter estimates, bundle adjustment is often used as the last step of feature-based structure and motion estimation algorithms. Bundle adjustment involves the formulation of a large scale, yet sparse minimization problem, which is traditionally solved using a sparse variant of the LevenbergMarquardt optimization algorithm that avoids storing and operating on zero entries. This paper argues that considerable computational benefits can be gained by substituting the sparse Levenberg-Marquardt algorithm in the implementation of bundle adjustment with a sparse variant of Powell's dog leg non-linear least squares technique. Detailed comparative experimental results provide strong evidence supporting this claim.

• Type: Conference
• Year: 2005
• Where: ICCV
• Authors: Manolis I. A. Lourakis, Antonis A. Argyros
• Keywords: Bundle Adjustment, Computer Vision, ICCV 2005, Optimal 3D Structure, Sparse Levenberg-marquardt Algorithm, Sparse Minimization Problem, Sparse Variant