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Bundle Adjustment

Bundle Adjustment (BA) improves the accuracy of 3D scene reconstructions from multiple images by correcting errors in camera pose, scene structure, and feature tracking. The process begins with data collection and an initial structure-from-motion estimation, followed by the calculation of reprojection errors and the optimization of an objective function using nonlinear optimization techniques. The final result is a refined 3D model with enhanced accuracy, suitable for applications in 3D mapping, computer vision, robotics, and virtual reality.

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17 views8 pages

Bundle Adjustment

Bundle Adjustment (BA) improves the accuracy of 3D scene reconstructions from multiple images by correcting errors in camera pose, scene structure, and feature tracking. The process begins with data collection and an initial structure-from-motion estimation, followed by the calculation of reprojection errors and the optimization of an objective function using nonlinear optimization techniques. The final result is a refined 3D model with enhanced accuracy, suitable for applications in 3D mapping, computer vision, robotics, and virtual reality.

Uploaded by

kumarprem6767merp
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Bundle Adjustment

Bundle Adjustment
• Bundle adjustment (BA) enhances the accuracy and reliability of 3D scene
reconstructions from multiple images and camera views:
• We use it to correct errors from the initial 3D reconstruction process, including
inaccuracies in camera pose, scene structure, or feature tracking.
Workflow and Key Components of Bundle
Adjustment
• The workflow of Bundle Adjustment (BA) consists of a series of steps
designed to refine the parameters of a 3D reconstruction model from
several 2D images:
Data Collection and Initial
Reconstruction
• We start with a collection of 2D images capturing the scene or object
of interest from different viewpoints, ideally with overlapping features
or key points recognizable in multiple images.
• To initialize the 3D scene structure and camera parameters, we do an
initial structure-from-motion (SFM) estimation.
• SFM algorithms analyze the image correspondences and camera
positions to provide an initial guess of the scene’s 3D structure and
camera poses.
• However, this initial reconstruction often has errors. This is where
bundle adjustment comes into play.
Reprojection Errors and Objective Function
Formulation

• First, we compute the reprojection errors for each image, measuring


the disparity between observed 2D features and their current 3D
structure-based projected positions.
• That way, we asses our 3D model’s accuracy.
• We also define an objective function to optimize in further steps.
• Usually, it’s the sum of squared (reprojection) errors across all images.
It quantifies the overall error in the current reconstruction.
Nonlinear Optimization and Simultaneous
Parameter Updates

• Nonlinear optimization techniques like Levenberg-Marquardt or


Gauss-Newton are used iteratively to minimize the objective function,
refining the 3D scene structure and camera parameters.
• We apply simultaneous updates to the 3D structure and camera
parameters throughout each optimization iteration, ensuring that
changes in one reconstruction aspect don’t adversely affect others,
thus promoting global consistency.
Refined Reconstruction and
Post-processing
• The result of bundle adjustment is a refined 3D reconstruction
model with an improved accuracy. This model’s 3D scene structure
and camera parameters produce a more precise scene
representation.
• we undertake post-processing steps, such as texture mapping, or
additional filtering, contingent on the particular application
requirements.
• The outcome is a highly accurate 3D model suitable for various
applications, including 3D mapping, computer vision, robotics, and
virtual reality.

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