Spectral Partitioning for Structure from Motion

  title={Spectral Partitioning for Structure from Motion},
  author={Drew Steedly and Irfan A. Essa and Frank Dellaert},
We propose a spectral partitioning approach for large-scale optimization problems, specifically structure from motion. In structure from motion, partitioning methods reduce the problem into smaller and better conditioned subproblems which can be efficiently optimized. Our partitioning method uses only the Hessian of the reprojection error and its eigenvectors. We show that partitioned systems that preserve the eigenvectors corresponding to small eigenvalues result in lower residual error when… CONTINUE READING
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