iLBA: Incremental Light Bundle Adjustment
In incremental light bundle adjustment (iLBA) we combine the following two key ideas: a) 3D points are
algebraically eliminated using multi-view constraints, which greatly reduces the number of variables in the optimization. If required, all or some of the 3D points can be reconstructed using the optimized cameras. b) Incremental smoothing is applied to efficiently incorporate new incoming images - typically only a small part of camera poses need to be updated.
Code and datasets are available here.
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Related Papers
IEEE/RSJ International Conference on Intelligent Robots and Systems
2013
Incremental Light Bundle Adjustment for Robotics Navigation,
, IEEE/RSJ International Conference on Intelligent Robots and Systems, 11/2013, (2013)
IEEE Workshop on Robot Vision (WoRV)
2013
Probabilistic Analysis of Incremental Light Bundle Adjustment,
, IEEE Workshop on Robot Vision (WoRV), 01/2013, (2013)
British Machine Vision Conference (BMVC)
2012
Incremental Light Bundle Adjustment,
, British Machine Vision Conference (BMVC), 09/2012, (2012)
IEEE/ION Position Location and Navigation System (PLANS)
2012
Bundle Adjustment Without Iterative Structure Estimation and its Application to Navigation,
, IEEE/ION Position Location and Navigation System (PLANS) , 05/2012, (2012)
