Bundle Adjustment — A Modern Synthesis [chapter]

Bill Triggs, Philip F. McLauchlan, Richard I. Hartley, Andrew W. Fitzgibbon
2000 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)
more » ... variance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.
doi:10.1007/3-540-44480-7_21 fatcat:jm2ewshh5bejhnv5dixghvp6y4