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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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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
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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