| Title | Bundle Adjustment using Conjugate Gradients with Multiscale Preconditioning |
| Authors | Martin Byröd, Karl Åström |
| Full-text | Available as PDF |
| Alternative Location | http://www.bmva.org/bmvc/20... |
| Publication | British Machine Vision Conference |
| Year | 2009 |
| Pages | 10 |
| Document type | Conference paper |
| Conference name | British Machine Vision Conference |
| Conference Date | 2009-09-07 |
| Conference Location | London, UK |
| Status | Published |
| Quality controlled | Yes |
| Language | eng |
| Abstract English | Bundle adjustment is a key component of almost any feature based 3D reconstruction<br> system, used to compute accurate estimates of calibration parameters and structure and<br> motion configurations. These problems tend to be very large, often involving thousands<br> of variables. Thus, efficient optimization methods are crucial. The traditional Levenberg<br> Marquardt algorithm with a direct sparse solver can be efficiently adapted to the special<br> structure of the problem and works well for small to medium size setups. However, for<br> larger scale configurations the cubic computational complexity makes this approach pro-<br> hibitively expensive. The natural step here is to turn to iterative methods for solving the<br> normal equations such as conjugate gradients. So far, there has been little progress in this<br> direction. This is probably due to the lack of suitable pre-conditioners, which are con-<br> sidered essential for the success of any iterative linear solver. In this paper, we show how<br> multi scale representations, derived from the underlying geometric layout of the problem,<br> can be used to dramatically increase the power of straight forward preconditioners such<br> as Gauss-Seidel. |
| Keywords | Computer vision, non-linear least squares problems, simultaneous localization and mapping, bundle adjustment, |
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