BUNDLE ADJUSTMENT IN NO NEED OF APPROXIMATIONS OF PARAMETERS

摘要

Bundle adjustment has been widely used in orientation and camera calibration. But since the observation equations are non-linear, approximations of parameters are necessary at the start of adjustment. This paper discusses a method and a procedure to evaluate the approximations automatically associated with any model or object space coordinate systems. This method can realizes semi-automatic bundle adjustment or photogrammetry without control points. The method is based on relative orientation by the linear coplanarity condition and decomposition of rotation matrices to angular elements. This is validated by experiments of simple orientation of a pair of photographs and a camera calibration without control points using a 3-D target field.