Visibility Based Preconditioning for Bundle Adjustment
Abstract
We present Visibility Based Preconditioning (VBP) a new
technique for efficiently solving the linear least squares
problems that arise in bundle adjustment. Using the
camera-point visibility structure of the scene, we describe
the construction of two preconditioners. These preconditioners when combined with an inexact step LevenbergMarquardt algorithm offer state of the art performance
on the BAL data set, with 3-5x reduction in execution time over currently available methods while delivering
comparable or better solution quality
Research Areas
