Propagations d’erreur pour l’ajustement de faisceaux local Error Propagations for Local Bundle Adjusment
نویسندگان
چکیده
Local bundle adjustment (LBA) has recently been introduced to estimate the geometry of image sequences taken by a calibrated camera. Its advantage over standard (global) bundle adjustment is a great reduction of computational complexity, which allows real-time performances with a similar accuracy. However, no confidence measure on the LBA result such as uncertainty or covariance has yet been introduced. This paper introduces statistical models and estimation methods for uncertainty with two desirable properties : (1) uncertainty propagation along the sequence and (2) real-time calculation. We also explain why this problem is more complicated than it may appear at first glance, and we provide results on video sequences.
منابع مشابه
Une longueur de pas optimale au sens de l’erreur de reprojection algébrique pour l’ajustement de faisceaux Algebraic Line Search for Bundle Adjustment
Bundle Adjustment is based on nonlinear least squares minimization techniques, such as Levenberg-Marquardt and Gauss-Newton. It iteratively computes local parameters increments. Line Search techniques aims at providing an efficient magnitude for these increments, called the step length. In this paper, a new ad hoc Line Search technique for solving bundle adjustment is proposed. The main idea is...
متن کاملUniversal Error Propagation Law
As an ubiquitous statistical theory, Gaussian Distribution (GD) or Gaussian Error Propagation Law (GEPL) has been widely used for modelling random errors in many engineering and application fields since 1809. In recent years, this theory has been extended to handle the uncertainties of spatial data in GIS, such as positional error modelling. But most of the results for spatial error modelling b...
متن کاملA bundle-type algorithm for routing in telecommunication data networks
To optimize the quality of service through a telecommunication network, we propose an algorithm based on Lagrangian relaxation. The bundle-type dual algorithm is adapted to the present situation, where the dual function is the sum of a polyhedral function (coming from shortest paths problems) and of a smooth function (coming from the congestion). Key-words: Convex optimization, routing, multico...
متن کاملHybrid High-Order methods for variable diffusion problems on general meshes
We extend the Hybrid High-Order method introduced by the authors for the Poisson problem to problems with heterogeneous/anisotropic diffusion. The cornerstone is a local discrete gradient reconstruction from elementand face-based polynomial degrees of freedom. Optimal error estimates are proved. Résumé Méthodes hybrides d’ordre élevé pour des problèmes à diffusion variable sur des maillages gén...
متن کاملTrade propagations in the ground of professional ethic
Professional ethic of the trade propagations can be studied systematically in a school of thought. Regardless of cultural and religious differences, one cannot generalize the common cases of obligations. A comparative consideration of the culture revealed by Islam and that of the West makes it clear that trade propagations in the western model is marked with such failures as instrumental attitu...
متن کامل