Conjugate Gradient Bundle Adjustment

  title={Conjugate Gradient Bundle Adjustment},
  author={Martin Byr{\"o}d and Kalle {\AA}str{\"o}m},
Bundle adjustment for multi-view reconstruction is traditionally done using the Levenberg-Marquardt algorithm with a direct linear solver, which is computationally very expensive. An alternative to this approach is to apply the conjugate gradients algorithm in the inner loop. This is appealing since the main computational step of the CG algorithm involves only a simple matrix-vector multiplication with the Jacobian. In this work we improve on the latest published approaches to bundle adjustment… CONTINUE READING
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