ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume III-3
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, 35–41, 2016
https://doi.org/10.5194/isprs-annals-III-3-35-2016
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, 35–41, 2016
https://doi.org/10.5194/isprs-annals-III-3-35-2016

  03 Jun 2016

03 Jun 2016

FAST AND RESISTANT PROCRUSTEAN BUNDLE ADJUSTMENT

Andrea Fusiello and Fabio Crosilla Andrea Fusiello and Fabio Crosilla
  • DPIA - University of Udine Via Delle Scienze, 208 - 33100 Udine, Italy

Keywords: Bundle adjustment, Orthogonal Procrustes, Block relaxation, Robust statistics

Abstract. In a recent paper (Fusiello and Crosilla, 2015) a Procrustean formulation of the bundle block adjustment has been presented, with a solution based on alternating least squares. This paper improves on it in two respects: it introduces a faster iterative scheme that minimizes the same cost function, thereby achieving the same accuracy, and makes the method resistant to rogue measures through iteratively reweighted least-squares. Empirical results confirm the effectiveness of these enhancements.