Research on bundle adjustment for visual SLAM under large-scale scene

2017 ◽  
Author(s):  
Kang Liu ◽  
Hanxu Sun ◽  
Ping Ye
Keyword(s):  
Large Scale ◽  
Bundle Adjustment ◽  
Visual Slam

scholarly journals A High-Precision Registration Technology Based on Bundle Adjustment in Structured Light Scanning System

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jianying Yuan ◽  
Qiong Wang ◽  
Xiaoliang Jiang ◽  
Bailin Li
Keyword(s):  
High Precision ◽  
Large Scale ◽  
Structured Light ◽  
Bundle Adjustment ◽  
Scanning System ◽  
Control Points ◽  
Registration Method ◽  
Global Control ◽  
3D Data ◽  
Structured Light Scanning

The multiview 3D data registration precision will decrease with the increasing number of registrations when measuring a large scale object using structured light scanning. In this paper, we propose a high-precision registration method based on multiple view geometry theory in order to solve this problem. First, a multiview network is constructed during the scanning process. The bundle adjustment method from digital close range photogrammetry is used to optimize the multiview network to obtain high-precision global control points. After that, the 3D data under each local coordinate of each scan are registered with the global control points. The method overcomes the error accumulation in the traditional registration process and reduces the time consumption of the following 3D data global optimization. The multiview 3D scan registration precision and efficiency are increased. Experiments verify the effectiveness of the proposed algorithm.

scholarly journals Extrinsic Camera Calibration with Line-Laser Projection

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1091
Author(s):  
Izaak Van Crombrugge ◽  
Rudi Penne ◽  
Steve Vanlanduit
Keyword(s):  
Camera Calibration ◽  
Real World ◽  
Large Scale ◽  
State Of The Art ◽  
Bundle Adjustment ◽  
Field Of View ◽  
Extrinsic Calibration ◽  
Practical Procedure ◽  
Partial Overlap

Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5°. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.

Real-time hierarchical stereo Visual SLAM in large-scale environments

2010 ◽  
Vol 58 (8) ◽  
pp. 991-1002 ◽  
Author(s):  
David Schleicher ◽  
Luis M. Bergasa ◽  
Manuel Ocaña ◽  
Rafael Barea ◽  
Elena López
Keyword(s):  
Real Time ◽  
Large Scale ◽  
Visual Slam

scholarly journals INVESTIGATIONS ON THE BUNDLE ADJUSTMENT RESULTS FROM SFM-BASED SOFTWARE FOR MAPPING PURPOSES

2018 ◽  
Vol XLII-2 ◽  
pp. 623-628
Author(s):  
Y. A. Lumban-Gaol ◽  
A. Murtiyoso ◽  
B. H. Nugroho
Keyword(s):  
Aerial Photography ◽  
Large Scale ◽  
Bundle Adjustment ◽  
Aerial Images ◽  
Topographic Maps ◽  
Main Method ◽  
Aerial Photogrammetry ◽  
Lower Accuracy ◽  
Spatial Management ◽  
Erdas Imagine

Since its first inception, aerial photography has been used for topographic mapping. Large-scale aerial photography contributed to the creation of many of the topographic maps around the world. In Indonesia, a 2013 government directive on spatial management has re-stressed the need for topographic maps, with aerial photogrammetry providing the main method of acquisition. However, the large need to generate such maps is often limited by budgetary reasons. Today, SfM (Structure-from-Motion) offers quicker and less expensive solutions to this problem. However, considering the required precision for topographic missions, these solutions need to be assessed to see if they provide enough level of accuracy. In this paper, a popular SfM-based software Agisoft PhotoScan is used to perform bundle adjustment on a set of large-scale aerial images. The aim of the paper is to compare its bundle adjustment results with those generated by more classical photogrammetric software, namely Trimble Inpho and ERDAS IMAGINE. Furthermore, in order to provide more bundle adjustment statistics to be compared, the Damped Bundle Adjustment Toolbox (DBAT) was also used to reprocess the PhotoScan project. Results show that PhotoScan results are less stable than those generated by the two photogrammetric software programmes. This translates to lower accuracy, which may impact the final photogrammetric product.

scholarly journals A Flow Perspective on Nonlinear Least-Squares Problems

2020 ◽  
Vol 48 (4) ◽  
pp. 987-1003
Author(s):  
Hans Georg Bock ◽  
Jürgen Gutekunst ◽  
Andreas Potschka ◽  
María Elena Suaréz Garcés
Keyword(s):  
Least Squares ◽  
Newton Method ◽  
Large Scale ◽  
Gradient Flow ◽  
Nonlinear Least Squares ◽  
Bundle Adjustment ◽  
Least Squares Problems ◽  
Flow Equations ◽  
Backward Euler ◽  
Forward Euler

AbstractJust as the damped Newton method for the numerical solution of nonlinear algebraic problems can be interpreted as a forward Euler timestepping on the Newton flow equations, the damped Gauß–Newton method for nonlinear least squares problems is equivalent to forward Euler timestepping on the corresponding Gauß–Newton flow equations. We highlight the advantages of the Gauß–Newton flow and the Gauß–Newton method from a statistical and a numerical perspective in comparison with the Newton method, steepest descent, and the Levenberg–Marquardt method, which are respectively equivalent to Newton flow forward Euler, gradient flow forward Euler, and gradient flow backward Euler. We finally show an unconditional descent property for a generalized Gauß–Newton flow, which is linked to Krylov–Gauß–Newton methods for large-scale nonlinear least squares problems. We provide numerical results for large-scale problems: An academic generalized Rosenbrock function and a real-world bundle adjustment problem from 3D reconstruction based on 2D images.

scholarly journals A MODIFIED PROJECTIVE TRANSFORMATION SCHEME FOR MOSAICKING MULTI-CAMERA IMAGING SYSTEM EQUIPPED ON A LARGE PAYLOAD FIXED-WING UAS

2015 ◽  
Vol XL-3/W2 ◽  
pp. 87-93 ◽  
Author(s):  
J. P. Jhan ◽  
Y. T. Li ◽  
J. Y. Rau
Keyword(s):  
Large Scale ◽  
Imaging System ◽  
Collection Efficiency ◽  
Projective Transformation ◽  
Operation Time ◽  
Bundle Adjustment ◽  
Aerial Images ◽  
Mountainous Area ◽  
Topographic Map ◽  
Camera System

In recent years, Unmanned Aerial System (UAS) has been applied to collect aerial images for mapping, disaster investigation, vegetation monitoring and etc. It is a higher mobility and lower risk platform for human operation, but the low payload and short operation time reduce the image collection efficiency. In this study, one nadir and four oblique consumer grade DSLR cameras composed multiple camera system is equipped on a large payload UAS, which is designed to collect large ground coverage images in an effective way. The field of view (FOV) is increased to 127 degree, which is thus suitable to collect disaster images in mountainous area. The synthetic acquired five images are registered and mosaicked as larger format virtual image for reducing the number of images, post processing time, and for easier stereo plotting. Instead of traditional image matching and applying bundle adjustment method to estimate transformation parameters, the IOPs and ROPs of multiple cameras are calibrated and derived the coefficients of modified projective transformation (MPT) model for image mosaicking. However, there are some uncertainty of indoor calibrated IOPs and ROPs since the different environment conditions as well as the vibration of UAS, which will cause misregistration effect of initial MPT results. Remaining residuals are analysed through tie points matching on overlapping area of initial MPT results, in which displacement and scale difference are introduced and corrected to modify the ROPs and IOPs for finer registration results. In this experiment, the internal accuracy of mosaic image is better than 0.5 pixels after correcting the systematic errors. Comparison between separate cameras and mosaic images through rigorous aerial triangulation are conducted, in which the RMSE of 5 control and 9 check points is less than 5 cm and 10 cm in planimetric and vertical directions, respectively, for all cases. It proves that the designed imaging system and the proposed scheme have potential to create large scale topographic map.

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