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Fast Incremental Bundle Adjustment with Covariance Recovery

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F17%3APU126457" target="_blank" >RIV/00216305:26230/17:PU126457 - isvavai.cz</a>

  • Result on the web

    <a href="http://www.fit.vutbr.cz/research/pubs/all.php?id=11542" target="_blank" >http://www.fit.vutbr.cz/research/pubs/all.php?id=11542</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/3DV.2017.00029" target="_blank" >10.1109/3DV.2017.00029</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Fast Incremental Bundle Adjustment with Covariance Recovery

  • Original language description

    Efcient algorithms exist to obtain a sparse 3D representation of the environment. Bundle adjustment (BA) and structure from motion (SFM) are techniques used to estimate both the camera poses and the set of sparse points in the environment. Many applications require such reconstruction to be performed online, while acquiring the data and produce an updated result every step. Furthermore, using active feedback about the quality of the reconstruction can help selecting the best views to increase the accuracy as well as to maintain a reasonable size of the collected data. This paper provides novel and efcient solutions to solving the associated NLS incrementally, and to compute not only the optimal solution but also the associated uncertainty. The proposed technique highly increases the efciency of the incremental BA solver for long camera trajectory applications and provides extremely fast covariance recovery.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    <a href="/en/project/VI20172020068" target="_blank" >VI20172020068: Tools and methods for video and image processing to improve effectivity of rescue and security services operations</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    2017 Fifth International Conference on 3D Vision

  • ISBN

    978-989-8425-47-8

  • ISSN

  • e-ISSN

  • Number of pages

    8

  • Pages from-to

    1-9

  • Publisher name

    Institute of Electrical and Electronics Engineers

  • Place of publication

    Qingdao

  • Event location

    Qingdao, China

  • Event date

    Oct 10, 2017

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000454981700019