Bundle adjustment with and without damping
2013 (English)In: Photogrammetric Record, ISSN 0031-868X, E-ISSN 1477-9730, Vol. 28, no 144, 396-415 p.Article in journal (Refereed) Published
The least squares adjustment (LSA) method is studied as an optimisation problem and shown to be equivalent to the undamped Gauss-Newton (GN) optimisation method. Three problem-independent damping modifications of the GN method are presented: the line-search method of Armijo (GNA); the Levenberg-Marquardt algorithm (LM); and Levenberg-Marquardt-Powell (LMP). Furthermore, an additional problem-specific "veto" damping technique, based on the chirality condition, is suggested. In a perturbation study on a terrestrial bundle adjustment problem the GNA and LMP methods with veto damping can increase the size of the pull-in region compared to the undamped method; the LM method showed less improvement. The results suggest that damped methods can, in many cases, provide a solution where undamped methods fail and should be available in any LSA software package. Matlab code for the algorithms discussed is available from the authors.
Place, publisher, year, edition, pages
John Wiley & Sons, 2013. Vol. 28, no 144, 396-415 p.
bundle, adjustment, least squares, convergence, initial values, terrestrial photogrammetry
Computer Vision and Robotics (Autonomous Systems) Computational Mathematics
Research subject Computer and Information Science
IdentifiersURN: urn:nbn:se:umu:diva-79862DOI: 10.1111/phor.12037OAI: oai:DiVA.org:umu-79862DiVA: diva2:650796