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SBA: A software package for generic sparse bundle adjustment

Lourakis, Manolis ; Argyros, Antonis

ACM transactions on mathematical software, 2009-03, Vol.36 (1), p.1-30 [Periódico revisado por pares]

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Título:
SBA: A software package for generic sparse bundle adjustment
Autor: Lourakis, Manolis ; Argyros, Antonis
Assuntos: bundle adjustment ; engineering applications ; Levenberg-Marquardt ; multiple-view geometry ; nonlinear least squares ; sparse Jacobian ; structure and motion estimation ; Unconstrained optimization
É parte de: ACM transactions on mathematical software, 2009-03, Vol.36 (1), p.1-30
Notas: ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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Descrição: Bundle adjustment constitutes a large, nonlinear least-squares problem that is often solved as the last step of feature-based structure and motion estimation computer vision algorithms to obtain optimal estimates. Due to the very large number of parameters involved, a general purpose least-squares algorithm incurs high computational and memory storage costs when applied to bundle adjustment. Fortunately, the lack of interaction among certain subgroups of parameters results in the corresponding Jacobian being sparse, a fact that can be exploited to achieve considerable computational savings. This article presents sba, a publicly available C/C++ software package for realizing generic bundle adjustment with high efficiency and flexibility regarding parameterization.
Editor: ACM
Idioma: Inglês

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