A Quasi-Linear Bundle Adjustment Method

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A Quasi-Linear Bundle Adjustment Method

更新时间：2025-07-09

- A Quasi-Linear Bundle Adjustment Method
- Vol. 44, Issue 12, Pages: 1-4(2010)
- 作者机构：
  
  1. 西安交通大学电子与信息工程学院,西安,710049
  2. 陕西师范大学计算机科学学院,西安,710062
- 作者简介：
- 基金信息：
- DOI：
  CLC： P232;TP391.41
- Online First：10 December 2010，
  
  Published：2010
- 稿件说明：
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A Quasi-Linear Bundle Adjustment Method[J]. 2010, 44(12): 1-4.
DOI：

A Quasi-Linear Bundle Adjustment Method[J]. 2010, 44(12): 1-4. DOI：

摘要

为了解决光束平差运行速度慢、复杂度高的缺点

提出了一种准线性光束平差方法(QBA)

该方法利用深度因子等于投影矩阵的第3行与射影空间点相乘的特性

采用重投影点和已知图像点的代数距离建立目标函数

交替地将投影矩阵和射影空间点两个量中的一个保持不变

线性地求取另一个量

最后完成射影重建.实验结果表明

QBA方法具有较快的收敛速度

同时和传统的Levenberg-Marquat方法及Mahamud方法比较

QBA方法运行时间约是L-M方法的1/8

是Mahamud方法的1/3.

Abstract

A quasi-linear bundle adjustment(QBA)method is presented to overcome the shortcoming of the bundle adjustment that the computational cost is expensive due to the complicated procedure. The method bases on the fact that the depth factor is equal to the product of the third row of projective matrix and the point in projection space. The algebraic distance between the re-projective points and the image points is taken as the objective function. Then the projective points and the projective matrices are alternately estimated by solution with one of them keeping constant. Finally

the projective reconstruction is obtained. Experimental results show that the proposed method is very efficient. Comparisons with the L-M method and the Mahamud method show that the proposed method runs approximate 8 times as fast as the L-M method and 3 times as fast as the Mahamud method.

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references

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