Conjugate Gradient Bundle Adjustment
Byröd, Martin LU and Åström, Kalle LU
(2010)
11th European Conference on Computer Vision
6312.
p.114-127
- Abstract
- Bundle adjustment for multi-view reconstruction is traditionally done using the Levenberg-Marquardt algorithm with a direct linear solver, which is computationally very expensive. An alternative to this approach is to apply the conjugate gradients algorithm in the inner loop. Tins is appealing since the main computational step of the CG algorithm involves only a simple matrix-vector multiplication with the Jacobian. In this work we improve on the latest published approaches to bundle adjustment with conjugate gradients by making full use of the least squares nature of the problem. We employ an easy-to-compute QR factorization based block preconditioner and show how a certain property of the preconditioned system allows us to reduce the... (More)
- Bundle adjustment for multi-view reconstruction is traditionally done using the Levenberg-Marquardt algorithm with a direct linear solver, which is computationally very expensive. An alternative to this approach is to apply the conjugate gradients algorithm in the inner loop. Tins is appealing since the main computational step of the CG algorithm involves only a simple matrix-vector multiplication with the Jacobian. In this work we improve on the latest published approaches to bundle adjustment with conjugate gradients by making full use of the least squares nature of the problem. We employ an easy-to-compute QR factorization based block preconditioner and show how a certain property of the preconditioned system allows us to reduce the work per iteration to roughly half of the standard CG algorithm. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1859660
- author
- Byröd, Martin
LU
and Åström, Kalle
LU
- organization
- publishing date
- 2010
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Computer Vision-Eccv 2010, Pt II
- volume
- 6312
- pages
- 114 - 127
- publisher
- Springer
- conference name
- 11th European Conference on Computer Vision
- conference dates
- 2010-09-05 - 2010-09-11
- external identifiers
-
- wos:000286164000009
- scopus:78149333899
- ISSN
- 0302-9743
- 1611-3349
- language
- English
- LU publication?
- yes
- id
- 2dce9d2b-d564-4f65-b419-0aa64b2d1c24 (old id 1859660)
- date added to LUP
- 2016-04-01 10:29:02
- date last changed
- 2024-04-07 11:08:53
@inproceedings{2dce9d2b-d564-4f65-b419-0aa64b2d1c24,
abstract = {{Bundle adjustment for multi-view reconstruction is traditionally done using the Levenberg-Marquardt algorithm with a direct linear solver, which is computationally very expensive. An alternative to this approach is to apply the conjugate gradients algorithm in the inner loop. Tins is appealing since the main computational step of the CG algorithm involves only a simple matrix-vector multiplication with the Jacobian. In this work we improve on the latest published approaches to bundle adjustment with conjugate gradients by making full use of the least squares nature of the problem. We employ an easy-to-compute QR factorization based block preconditioner and show how a certain property of the preconditioned system allows us to reduce the work per iteration to roughly half of the standard CG algorithm.}},
author = {{Byröd, Martin and Åström, Kalle}},
booktitle = {{Computer Vision-Eccv 2010, Pt II}},
issn = {{0302-9743}},
language = {{eng}},
pages = {{114--127}},
publisher = {{Springer}},
title = {{Conjugate Gradient Bundle Adjustment}},
volume = {{6312}},
year = {{2010}},
}