PI-BA Bundle Adjustment Acceleration on Embedded FPGAs with Co-observation Optimization.
Shuzhen QinQiang LiuBo YuShaoshan LiuPublished in: CoRR (2019)
Keyphrases
- bundle adjustment
- nonlinear optimization
- structure from motion
- least squares
- multi view
- camera parameters
- camera motion
- embedded systems
- reprojection error
- point correspondences
- levenberg marquardt
- optimization algorithm
- maximum likelihood
- stereo rig
- autocalibration
- multi view stereo
- visual slam
- smart camera
- scene structure
- optimization problems
- optimization method
- scene reconstruction
- piecewise planar
- image sequences
- constrained optimization
- cost function
- computer vision
- initial solution
- camera pose
- global search
- camera calibration
- missing data
- particle swarm optimization
- video sequences
- camera motion estimation