Visibility Based Preconditioning for Bundle Adjustment
Venue
IEEE Conference on Computer Vision and Pattern Recognition, IEEE (2012)
Publication Year
2012
Authors
Avanish Kushal, Sameer Agarwal
BibTeX
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
