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Incremental Light Bundle Adjustment

Published on Oct 09, 20124877 Views

Vadim Indelman

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 structu

BMVC 2012 - Surrey

Related categories

Color, Texture, Illumination & Reflectance

Chapter list

Incremental Light Bundle Adjustment00:00
Introduction00:13
Bundle Adjustment (BA)00:51
“Structure-Less” BA01:50
Incremental Light Bundle Adjustment (iLBA)02:46
Structure-Less BA (SLB)03:21
Light Bundle Adjustment (LBA)04:18
LBA Using Three-View Constraints05:14
Incremental LBA (iLBA)06:24
iLBA - Concept07:21
iLBA - Factor Graph Formulation (1)08:04
iLBA - Factor Graph Formulation (2)08:42
Incremental Inference in iLBA (1)09:10
Incremental Inference in iLBA (2)09:50
Incremental Inference in iLBA (3)10:28
Incremental Inference in iLBA (4)11:03
Incremental Inference in iLBA (5)11:22
Incremental Inference in iLBA (6)13:01
Results (1)14:09
Results (2)14:26
Results (3)14:49
Results (4)15:48
Extended Cubicle dataset16:13
Outdoor dataset16:32
Summary (1)17:16
Summary (2)17:41