【文件属性】:
文件名称:Bundle Adjustment Method using Sparse BFGS Solution
文件大小:1.11MB
文件格式:PDF
更新时间:2022-03-30 07:31:30
BA
This letter introduces an efficient bundle adjustment (BA) method based on the
sparse Broyden-Fletcher-Goldfarb-Shanno (sparse BFGS, sBFGS) solution, which
efficiently estimates camera poses and 3-D points. The Levenberg-Marquardt (LM)
solution, which is widely applied in BA problems, requires more linear equation
solution and more iterations. A gain matrix calculated using both the Jacobian
matrix and residual vector replaces the simple diagonal matrix of the LM solution,
which results in a better estimation of the descent direction and step size when
finding a path to a local minimum in a sparse BFGS solution. Four datasets were
verified, and the results demonstrate that the proposed method requires fewer linear
equation solutions to converge to a minimum compared with that of the LM-based
BA method.