Now showing items 1-10 of 10

    • Bundle Adjustment in Large-Scale 3D Reconstructions based on Underwater Robotic Surveys 

      Beall, Chris; Dellaert, Frank; Mahon, Ian; Williams, Stefan B. (Georgia Institute of Technology, 2011-06)
      In this paper we present a technique to generate highly accurate reconstructions of underwater structures by employing bundle adjustment on visual features, rather than relying on a filtering approach using navigational ...
    • Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors 

      Carlone, Luca; Kira, Zsolt; Beall, Chris; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      Factor graphs are a general estimation framework that has been widely used in computer vision and robotics. In several classes of problems a natural partition arises among variables involved in the estimation. ...
    • Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment 

      Jian, Yong-Dian; Balcan, Doru C.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-11)
      We present a generalized subgraph preconditioning (GSP) technique to solve large-scale bundle adjustment problems efficiently. In contrast with previous work which uses either direct or iterative methods as the linear ...
    • HyperSfM 

      Ni, Kai; Dellaert, Frank (Georgia Institute of Technology, 2012-10)
      We propose a novel algorithm that solves the Structure from Motion problem in a divide and conquer manner by exploiting its bipartite graph structure. Recursive partitioning has a rich history, stemming from sparse ...
    • Incremental Light Bundle Adjustment 

      Indelman, Vadim; Roberts, Richard; Beall, Chris; Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structure-less SFM (structure ...
    • Incremental Light Bundle Adjustment for Robotics Navigation 

      Indelman, Vadim; Melim, Andrew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper presents a new computationally-efficient method for vision-aided navigation (VAN) in autonomous robotic applications. While many VAN approaches are capable of processing incoming visual observations, incorporating ...
    • Incremental Light Bundle Adjustment for Structure From Motion and Robotics 

      Indelman, Vadim; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyElsevier B.V., 2015)
      Bundle adjustment (BA) is essential in many robotics and structure-from-motion applications. In robotics, often a bundle adjustment solution is desired to be available incrementally as new poses and 3D points are observed. ...
    • Mining Structure Fragments for Smart Bundle Adjustment 

      Carlone, Luca; Alcantarilla, Pablo Fernandez; Chiu, Han-Pang; Kira, Zsolt; Dellaert, Frank (Georgia Institute of TechnologyBritish Machine Vision Association, 2014-09)
      Bundle Adjustment (BA) can be seen as an inference process over a factor graph. From this perspective, the Schur complement trick can be interpreted as an ordering choice for elimination. The elimination of a single point ...
    • Out-of-Core Bundle Adjustment for Large-Scale 3D Reconstruction 

      Ni, Kai; Steedly, Drew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      Large-scale 3D reconstruction has recently received much attention from the computer vision community. Bundle adjustment is a key component of 3D reconstruction problems. However, traditional bundle adjustment ...
    • Probabilistic Analysis of Incremental Light Bundle Adjustment 

      Indelman, Vadim; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-01)
      This paper presents a probabilistic analysis of the recently introduced incremental light bundle adjustment method (iLBA) [6]. In iLBA, the observed 3D points are algebraically eliminated, resulting in a cost ...