图 书 馆
增量光束调整Incremental Light Bundle Adjustment |
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| 课程网址: | http://videolectures.net/bmvc2012_indelman_bundle_adjustment/ |
| 主讲教师: | Vadim Indelman |
| 开课单位: | 乔治亚理工学院 |
| 开课时间: | 2012-10-09 |
| 课程语种: | 英语 |
| 中文简介: |  在许多应用中，例如移动视觉，增强现实和机器人技术，快速可靠的捆绑包调整至关重要。减少相关计算成本的两个最新想法是减少结构的SFM（运动产生的结构）和增量平滑。前者根据多视图约束而不是重新投影误差来表示成本函数，从而从优化中消除了3D结构。后者是在SLAM（同时定位和映射）社区中开发的，它允许人们执行有效的增量优化，自适应地识别在每个步骤中都需要重新计算的变量。 |
| 课程简介: | Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structure-less SFM (structure from motion) and incremental smoothing. The former formulates the cost function in terms of multi-view constraints instead of re-projection error, thereby eliminating the 3D structure from the optimization. The latter was developed in the SLAM (simultaneous localization and mapping) community and allows one to perform efficient incremental optimization, adaptively identifying the variables that need to be recomputed at each step. In this paper we combine these two key ideas into a computationally efficient bundle adjustment method, and additionally introduce the use of three-view constraints to remedy commonly encountered degenerate camera motions. We formulate the problem in terms of a factor graph, and incrementally update a directed junction tree which keeps track of the current best solution. Typically, only a small fraction of the camera poses are recalculated in each optimization step, leading to a significant computational gain. If desired, all or some of the observed 3D points can be reconstructed based on the optimized camera poses. To deal with degenerate motions, we use both two and three-view constraints between camera poses, which allows us to maintain a consistent scale during straight-line trajectories. We validate our approach using synthetic and real-imagery datasets and compare it to standard bundle adjustment, in terms of performance, robustness and computational cost. |
| 关 键 词: | 高效计算; 增量优化 |
| 课程来源: | 视频讲座网 |
| 数据采集: | 2021-03-25：zyk |
| 最后编审: | 2021-03-25：zyk |
| 阅读次数: | 52 |