Bundle adjustment without iterative structure estimation and its application to navigation

Record - IEEE PLANS, Position Location and Navigation Symposium

Volumn , Issue , 2012, Pages 748-756

  Indelman, Vadim ^a  

^a Georgia Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BUNDLE ADJUSTMENTS; DATA SETS; GEOMETRY CONSTRAINTS; GROUND TRUTH; ITERATIVE OPTIMIZATION; NON-LINEAR OPTIMIZATION; OPTIMIZATION PROBLEMS; OPTIMIZATION PROCESS; OVERLAPPING AREA; REAL IMAGES; SEQUENCE OF IMAGES; STRUCTURE ESTIMATION; STRUCTURE RECONSTRUCTION; THREE VIEWS; UNKNOWN PARAMETERS;

CAMERAS; NAVIGATION;

OPTIMIZATION;

EID: 84866235695     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/PLANS.2012.6236952     Document Type: Conference Paper

References (20)

1. S. Avidan and A. Shashua. Threading fundamental matrices. IEEE Trans. Pattern Anal. Machine Intell., 23(1):73-77, 2001.
2. A. M. Farenzena, A. Fusiello, and R. Gherardi. Structure-and-motion pipeline on a hierarchical cluster tree. Proceedings of the IEEE International Workshop on 3-D Digital Imaging and Modeling, pages 1489-1496, October 2009.
3. A. Fitzgibbon and A. Zisserman. Automatic camera recovery for closed or open image sequences. In Proceedings of the European Conference on Computer Vision, pages 311-326, 1998.
4. R. Hartley and A. Zisserman. Multiple View Geometry. Cambridge University Press, 2000.
5. V. Indelman. Navigation performance enhancement using online mosaicking. Technion, Israel, 2011.
6. V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Real-time vision-aided localization and navigation based on three-view geometry. IEEE Transactions on Aerospace and Electronic Systems, 48(2), April 2012.
7. V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Real-time vision-aided localization and navigation based on three-view geometry. IEEE Trans. Aerosp. Electron. Syst., 48(2), 2012.
8. V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Distributed vision-aided cooperative localization and navigation based on three-view geometry. Robotics and Autonomous Systems, 2012, to appear.
9. K. Konolige and M. Agrawal. Frameslam: From bundle adjustment to real-time visual mapping. IEEE Transactions on Robotics, 24(5): 1066-1077, 2008.
10. B. Liu, M. Yu, D. Maier, and R. Manner. Accelerated bundle adjustment in multiple-view reconstruction. Lecture Notes in Computer Science, 2774:1195-1201, 2003.
11. B. Liu, M. Yu, D. Maier, and R. Männer. An efficient and accurate method for 3d-point reconstruction from multiple views. Int. J. Comput. Vision, 65(3):175-188, Dec. 2005.
12. Y. Ma, S. Soatto, J. Kosecka, and S. Sastry. An Invitation to 3-D Vision. Springer, 2004.
13. E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and p. Sayd. 3d reconstruction of complex structures with bundle adjustment: an incremental approach. In Proceedings of the IEEE International Conference on Robotics and Automation, 2006.
14. D. Nister. An efficient solution to the five-point relative pose problem. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 26(6):756-770, June 2004.
15. G. Sibley, C. Mei, I. Reid, and P. Newman. Adaptive relative bundle adjustment. In Robotics Science and Systems (RSS), Seattle, USA, June 2009.
16. R. Steffen, J.-m. Frahm, and W. F. Relative bundle adjustment based on trifocal constraints. ECCV Workshop on Reconstruction and Modeling of Large-Scale 3D Virtual Environments, 2010.
17. H. Strasdat, J. M. M. Montiel, and A. J. Davison. Scale drift-aware large scale monocular SLAM. Zaragoza, Spain, June 2010.
18. B. Triggs, P. Mclauchlan, R. Hartley, and A. Fitzgibbon. Bundle adjustment - a modern synthesis. In Vision Algorithms: Theory and Practice, LNCS, pages 298-375. Springer Verlag, 2000.
19. R. Vidal, Y. Ma, S. Hsu, and S. Sastry. Optimal motion estimation from multiview normalized epipolar constraint. ICCV, 1:34-41, 2001.
20. Z. Zhang and Y. Shan. Incremental motion estimation through local bundle adjustment. Microsoft Research, Technical Report MSR-TR-01-54, May 2001.