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Bundle Adjustment — A Modern Synthesis

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Vision Algorithms: Theory and Practice (IWVA 1999)

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Abstract

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

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Authors and Affiliations

  1. INRIA Rhône-Alpes, 655 avenue de l’Europe, 38330, Montbonnot, France

    Bill Triggs

  2. School of Electrical Engineering, Information Technology & Mathematics, University of Surrey, Guildford, GU2 5XH, UK

    Philip F. McLauchlan

  3. General Electric CRD, Schenectady, NY, 12301

    Richard I. Hartley

  4. Dept of Engineering Science, University of Oxford, 19 Parks Road, OX1 3PJ, UK

    Andrew W. Fitzgibbon

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  1. Bill Triggs
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  2. Philip F. McLauchlan
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  3. Richard I. Hartley
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  4. Andrew W. Fitzgibbon
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Editors and Affiliations

  1. INRIA Rhône-Alpes, 655 avenue de l’Europe, Montbonnot, 38330, France

    Bill Triggs

  2. Department of Engineering Science, Oxford University, 19 Parks Road, OX1 3PJ, UK

    Andrew Zisserman

  3. Microsoft Research, Redmond, WA, 98052-6399, USA

    Richard Szeliski

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Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W. (2000). Bundle Adjustment — A Modern Synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds) Vision Algorithms: Theory and Practice. IWVA 1999. Lecture Notes in Computer Science, vol 1883. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44480-7_21

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