The Community for Technology Leaders
RSS Icon
Issue No.12 - Dec. (2012 vol.34)
pp: 2489-2495
Maxime Lhuillier , Inst. Pascal (ex. Lasmea), IFMA, Aubiwe, France
Two problems occur when bundle adjustment (BA) is applied on long image sequences: large calculation time and drift (or error accumulation). In recent work, the calculation time is reduced by local BAs applied in an incremental scheme. The drift may be reduced by fusion of GPS and Structure-from-Motion. An existing fusion method is BA minimizing a weighted sum of image and GPS errors. This paper introduces two constrained BAs for fusion which enforce an upper bound for the reprojection error. These BAs are alternatives to the existing fusion BA which does not guarantee a small reprojection error and requires a weight as input. Then, the three fusion BAs are integrated in an incremental Structure-from-Motion method based on local BA. Last, we will compare the fusion results on long monocular image sequences and low cost GPS.
image sequences, Global Positioning System, image fusion, image motion analysis, monocular image sequences, incremental fusion, structure-from-motion, GPS, constrained bundle adjustments, BA, reprojection error, Global Positioning System, Motion estimation, Cameras, Taylor series, Approximation methods, Linear systems, low cost GPS, Local bundle adjustment, structure-from-motion, fusion
Maxime Lhuillier, "Incremental Fusion of Structure-from-Motion and GPS Using Constrained Bundle Adjustments", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.34, no. 12, pp. 2489-2495, Dec. 2012, doi:10.1109/TPAMI.2012.157
[1] S. Agarwal, N. Snavely, S.M. Seitz, and R. Szeliski, "Bundle Adjustment in the Large," Proc. European Conf. Computer Vision, 2010.
[2] Y. Bard, Non-Linear Parameter Estimation. Academic Press, Inc., 1974.
[3] C. Ellum, "Integration of Raw GPS Measurements into a Bundle Adjustment," Int'l ARchives of Photogrammetry and Remote Sensing, vol. XXXV, 2006.
[4] R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision. Cambridge Univ. Press, 2000.
[5] H. Kume, T. Takemoti, T. Sato, and N. Yokoya, "Extrinsic Camera Parameter Estimation Using Video Images and GPS Considering GPS Position Accuracy," Proc. Int'l Conf. Pattern Recognition, 2010.
[6] M. Lhuillier, "Fusion of GPS and Structure-from-Motion Using Constrained Bundle Adjustments," Proc. IEEE Conf. Computer Vision and Pattern Recognition, 2011.
[7] P. Lothe, S. Bourgeois, F. Dekeyser, E. Royer, and M. Dhome, "Towards Geographical Referencing of Monocular Slam Reconstruction Using 3D City Models: Application to Real-Time Accurate Vision-Based Localization," Proc. IEEE Conf. Computer Vision and Pattern Recognition, 2009.
[8] J. McGlone, The Manual of Photogrammetry, fifth ed. ASPRS, 2004.
[9] J. Michot, A. Bartoli, and F. Gaspard, "Bi-Objective Bundle Adjustment with Application to Multi-Sensor Slam," Proc. Int'l Symp. 3D Data Processing, Visualization, and Transmission, 2010.
[10] E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd, "Generic and Real-Time Structure from Motion Using Local Bundle Adjustment," Image and Vision Computing, vol. 27, pp. 1178-1193, 2009.
[11] W. Press, S. Teukolsky, W. Vetterling, and B. Flannery, Numerical Recipies in C, second ed. Cambridge Univ. Press, 1999.
[12] B. Triggs, P.F. McLauchlan, R. Hartley, and A.W. Fitzgibbon, "Bundle Adjustment—A Modern Synthesis," Proc. Int'l Workshop Vision Algorithms: Theory and Practice, 2000.
[13] C. Wu, S. Agarwal, B. Curless, and S.M. Seitz, "Multicore Bundle Adjustment," Proc. IEEE Conf. Computer Vision and Pattern Recognition, 2011.
35 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool