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pOSE: Pseudo Object Space Error for Initialization-Free Bundle Adjustment
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition
Bundle adjustment is a nonlinear refinement method for camera poses and 3D structure requiring sufficiently good initialization. In recent years, it was experimentally observed that useful minima can be reached even from arbitrary initialization for affine bundle adjustment problems (and fixed-rank matrix factorization instances in general). The key success factor lies in the use of the variable projection (VarPro) method, which is known to have a wide basin of convergence for such problems. Indoi:10.1109/cvpr.2018.00201 dblp:conf/cvpr/HongZ18 fatcat:j5gbs5yahzfkpkbnv434wvtefy