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
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, 35-41, 2016
https://doi.org/10.5194/isprs-annals-III-3-35-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

  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.