Projective Reconstruction from Multiple Views with Minimization of 2D Reprojection Error |
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Authors: | Y S Hung W K Tang |
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Affiliation: | (1) Department of Electrical and Electronic Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong |
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Abstract: | The problem of projective reconstruction by minimization of the 2D reprojection error in multiple images is considered. Although
bundle adjustment techniques can be used to minimize the 2D reprojection error, these methods being based on nonlinear optimization
algorithms require a good starting point. Quasi-linear algorithms with better global convergence properties can be used to
generate an initial solution before submitting it to bundle adjustment for refinement. In this paper, we propose a factorization-based
method to integrate the initial search as well as the bundle adjustment into a single algorithm consisting of a sequence of
weighted least-squares problems, in which a control parameter is initially set to a relaxed state to allow the search of a
good initial solution, and subsequently tightened up to force the final solution to approach a minimum point of the 2D reprojection
error. The proposed algorithm is guaranteed to converge. Our method readily handles images with missing points. |
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Keywords: | multiple views projective reconstruction structure and motion sub-space method factorization method projective bundle adjustment |
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