Is Levenberg-Marquardt the most efficient optimization algorithm for implementing bundle adjustment?

Proceedings of the IEEE International Conference on Computer Vision

Volumn II, Issue , 2005, Pages 1526-1531

  Lourakis, Manolis I A ^a   Argyros, Antonis A ^a  

^a INSTITUTE OF COMPUTER SCIENCE   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

LEAST SQUARES APPROXIMATIONS; MOTION ESTIMATION; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; PARAMETER ESTIMATION; PROBLEM SOLVING; STRUCTURAL DESIGN; THREE DIMENSIONAL COMPUTER GRAPHICS;

BUNDLE ADJUSTMENT; FEATURE-BASED STRUCTURES; LEVENBERG-MARQUARDT OPTIMIZATION ALGORITHMS; ZERO ENTRIES;

ALGORITHMS;

EID: 33745925296     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCV.2005.128     Document Type: Conference Paper

References (21)

1. P. Beardsley, P. Torr, and A. Zisserman. 3D Model Acquisition From Extended Image Sequences. In Proc. of ECCV'96, pages 683-695, 1996.
2. A. Conn, N. Gould, and P. Toint. Trust Region Methods. MPS-SIAM Series On Optimization. SIAM, Philadelphia, PA, 2000.
3. J. Dennis and H. Mei. Two New Unconstrained Optimization Algorithms Which Use Function and Gradient Values. Journal of Optimization Theory and Applications, 28:453-462, 1979.
4. J. Dennis and R. Schnabel. Numerical Methods for Unconstrained Optimization and Nonlinear Equations. Classics in Applied Mathematics. SIAM Publications, Philadelphia, 1996.
5. A. Fitzgibbon and A. Zisserman. Automatic Camera Recovery for Closed or Open Image Sequences. In Proceedings of ECCV'98, pages 311-326, 1998.
6. R. Hartley. Euclidean Reconstruction from Uncalibrated Views. In J. Mundy and A. Zisserman, editors, Applications of Invariance in Computer Vision, volume 825 of Lecture Notes in Computer Science, pages 237-256. Springer-Verlag, 1993.
7. R. Hartley. An Object-Oriented Approach to Scene Reconstruction. In Proc. of IEEE Conf. SM&C'96, volume 4, pages 2475-2480, Oct. 1996.
8. R. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, 1st edition, 2000.
9. C. Kelley. Iterative Methods for Optimization. SIAM Publications, Philadelphia, 1999.
10. K. Levenberg. A Method for the Solution of Certain Non-linear Problems in Least Squares. Quarterly of Applied Mathematics, 2(2): 164-168, Jul. 1944.
11. M. Lourakis and A. Argyros. The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package Based on the Levenberg-Marquardt Algorithm. Technical Report 340, Institute of Computer Science - FORTH, Heraklion, Greece, Aug. 2004. Available at ftp://ftp.ios.forth.gr/teoh-reports/ 2004.
12. M. Lourakis and A. Argyros. Efficient, Causal Camera Tracking in Unprepared Environments. Computer Vision and Image Understanding Journal, 99(2):259-290, Aug. 2005.
13. K. Madsen, H. Nielsen, and O. Tingleff. Methods for Non-Linear Least Squares Problems. Technical University of Denmark, 2004. Lecture notes, available at http://www.imm.dtu.dk/oourses/02611/nllsq.pdf.
14. D. Marquardt. An Algorithm for the Least-Squares Estimation of Nonlinear Parameters. SIAM Journal of Applied Mathematics, 11(2):431-441, Jun. 1963.
15. J. Moré, B. Garbow, and K. Hillstrom. User guide for MINPACK-1. Technical Report ANL-80-74, Argonne National Laboratory, Aug. 1980.
16. J. Moré and D. Sorensen. Computing a Trust Region Step. SIAM J. Sci. Statist. Comput., 4:553-572, 1983.
17. H. Nielsen. Damping Parameter in Marquardt's Method. Technical Report IMM-REP-1999-05, Technical University of Denmark, 1999. Available at http://www.imm.dtu.dk/~hbn.
18. J. Nocedal and S. Wright. Numerical Optimization. Springer, New York, 1999.
19. M. Pollefeys, L. V. Gool, M. Vergauwen, F. Verbiest, K. Cornelis, J. Tops, and R. Koch. Visual Modeling With a Hand-Held Camera. IJCV, 59(3):207-232, Sep./Oct. 2004.
20. M. Powell. A Hybrid Method for Nonlinear Equations. In P. Rabinowitz, editor, Numerical Methods for Nonlinear Algebraic Equations, pages 87-144. Gordon and Breach Science, London, 1970.
21. B. Triggs, P. McLauchlan, R. Hartley, and A. Fitzgibbon. Bundle Adjustment - A Modem Synthesis. In Proceedings of the International Workshop on Vision Algorithms: Theory and Practice, pages 298-372, 1999.