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Communication Dans Un Congrès Année : 2004

Pros and cons of constrained and unconstrained formulation of the bundle adjustment problem

N. Börlin
  • Fonction : Auteur
J. Eriksson
  • Fonction : Auteur
P. Lindstrom
  • Fonction : Auteur

Résumé

Two implementations of the bundle adjustment problem were applied to a subset of the Z ̈urich City Hall reference data
set. One implementation used the standard Euler angle parameterisation of the rotation matrix. The second implemen-
tation used all nine elements of the rotation matrix as unknowns and six functional constraints. The second formulation
was constructed to reduce the non-linearity of the optimisation problem. The hypothesis was that a lower degree of
non-linearity would lead to faster convergence. Furthermore, each implementation could optionally use the line search
damping technique known from optimisation theory.
The algorithms were used to solve the relative orientation problem for a varying number of homologous points from 33
different camera pairs.
The results show that the constrained formulation has marginally better convergence properties, with or without damping.
However, damping alone halves the number of convergence failures at a minor computational cost.
The conclusion is that except to avoid the singularities associated with the Euler angles, the preferred use of the constrained
formulation remains an open question. However, the results strongly suggest that the line search damping technique should
be included in standard implementations of the bundle adjustment algorithm.
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Dates et versions

halshs-00264012 , version 1 (20-05-2008)

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  • HAL Id : halshs-00264012 , version 1

Citer

N. Börlin, Pierre Grussenmeyer, J. Eriksson, P. Lindstrom. Pros and cons of constrained and unconstrained formulation of the bundle adjustment problem. XXth Congress of the International Society for Photogrammetry and Remote Sensing (ISPRS), Jul 2004, Istanbul, Turkey. pp.589-594. ⟨halshs-00264012⟩
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