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Lecture Notes in Computer Science
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)doi:10.1007/3-540-44480-7_21 fatcat:jm2ewshh5bejhnv5dixghvp6y4