Out-of-Core Bundle Adjustment for Large-Scale 3D Reconstruction

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38471

Title: Out-of-Core Bundle Adjustment for Large-Scale 3D Reconstruction
Author: Ni, Kai ; Steedly, Drew ; Dellaert, Frank
Abstract: 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 algorithms require a considerable amount of memory and computational resources. In this paper, we present an extremely efficient, inherently out-of-core bundle adjustment algorithm. We decouple the original problem into several submaps that have their own local coordinate systems and can be optimized in parallel. A key contribution to our algorithm is making as much progress towards optimizing the global non-linear cost function as possible using the fragments of the reconstruction that are currently in core memory. This allows us to converge with very few global sweeps (often only two) through the entire reconstruction. We present experimental results on large-scale 3D reconstruction datasets, both synthetic and real.
Description: ©2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2007 11th IEEE International Conference on Computer Vision (ICCV), 14-21 October 2007, Rio de Janeiro, Brazil. DOI: 10.1109/ICCV.2007.4409085
Type: Post-print
Proceedings
URI: http://hdl.handle.net/1853/38471
ISSN: 1550-5499
Citation: Ni, K., Steedly, D., & Dellaert, F. (2007). “Out-of-Core Bundle Adjustment for Large-Scale 3D Reconstruction”. Proceedings of the 2007 11th IEEE International Conference on Computer Vision (ICCV), 14-21 October 2007, 1-8.
Date: 2007-10
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Microsoft Live Labs
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Bundle adjustment
Computer vision
Out-of-core
Parallel
Submaps
3D reconstruction

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