一种准线性集束调整方法

摘要

To improve the convergency speed, a bilinear method for bundle adjustment is presented in this paper. The algebraic distance instead of the geometric distance is minimized. The alternate steps where these projective points keep constant (respectively estimated) while the projective matrices are estimated (respectively kept constant) is proposed. The advantage of the method is that all the images are treated uniformly. It is proved that the method can converge to the minimum. The theory analysis and experiment results show that the proposed method is very efficient.%针对现有集束调整方法收敛速度慢的缺点,本文提出了一种准线性集束调整方法.该方法将求代数距离最小值代替求几何距离最小值,然后交替地将投影矩阵和射影空间点两个量中的一个保持不变,线性地求取另一个量.该方法的优点是所有的图像都平等地看待,并从理论上证明了该方法能够收敛到全局最小值.实验结果表明,本文提出的集束调整方法具有收敛速度快、运算量小等优点.