论文标题
大规模3D重建的功率束调整
Power Bundle Adjustment for Large-Scale 3D Reconstruction
论文作者
论文摘要
我们将功率束调整作为一种扩展类型算法，用于解决大规模捆绑调整问题。它基于反向Schur补体的功率系列扩展，构成了我们称为逆扩展方法的新求解器。从理论上讲，我们证明了权力系列的使用合理，并证明了方法的融合。使用现实世界的BAL数据集，我们表明，所提出的求解器挑战了最新的迭代方法，并显着加速了正常方程的求解，即使达到了很高的精度。这个易于实现的求解器还可以补充最近提出的分布式捆绑捆绑调整框架。我们证明，采用提出的功率束调节作为子问题解决器可显着提高分布式优化的速度和准确性。
We introduce Power Bundle Adjustment as an expansion type algorithm for solving large-scale bundle adjustment problems. It is based on the power series expansion of the inverse Schur complement and constitutes a new family of solvers that we call inverse expansion methods. We theoretically justify the use of power series and we prove the convergence of our approach. Using the real-world BAL dataset we show that the proposed solver challenges the state-of-the-art iterative methods and significantly accelerates the solution of the normal equation, even for reaching a very high accuracy. This easy-to-implement solver can also complement a recently presented distributed bundle adjustment framework. We demonstrate that employing the proposed Power Bundle Adjustment as a sub-problem solver significantly improves speed and accuracy of the distributed optimization.
