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Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity : Volume Xl-1/W2, Issue 1 (16/08/2013)

By Schneider, J.

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Book Id: WPLBN0004014423
Format Type: PDF Article :
File Size: Pages 6
Reproduction Date: 2015

Title: Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity : Volume Xl-1/W2, Issue 1 (16/08/2013)  
Author: Schneider, J.
Volume: Vol. XL-1/W2, Issue 1
Language: English
Subject: Science, Isprs, International
Collections: Periodicals: Journal and Magazine Collection, Copernicus Publications
Publication Date:
Publisher: Copernicus Publications, Göttingen, Germany
Member Page: Copernicus Publications


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Schneider, J., Läbe, T., & Förstner, W. (2013). Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity : Volume Xl-1/W2, Issue 1 (16/08/2013). Retrieved from

Description: University of Bonn, Institute of Geodesy and Geoinformation, Department of Photogrammetry, Nussallee 15, 53115 Bonn, Germany. This paper presents a concept and first experiments on a keyframe-based incremental bundle adjustment for real-time structure and motion estimation in an unknown scene. In order to avoid periodic batch steps, we use the software iSAM2 for sparse nonlinear incremental optimization, which is highly efficient through incremental variable reordering and fluid relinearization. We adapted the software to allow for (1) multi-view cameras by taking the rigid transformation between the cameras into account, (2) omnidirectional cameras as it can handle arbitrary bundles of rays and (3) scene points at infinity, which improve the estimation of the camera orientation as points at the horizon can be observed over long periods of time. The real-time bundle adjustment refers to sets of keyframes, consisting of frames, one per camera, taken in a synchronized way, that are initiated if a minimal geometric distance to the last keyframe set is exceeded. It uses interest points in the keyframes as observations, which are tracked in the synchronized video streams of the individual cameras and matched across the cameras, if possible. First experiments show the potential of the incremental bundle adjustment w.r.t. time requirements. Our experiments are based on a multi-camera system with four fisheye cameras, which are mounted on a UAV as two stereo pairs, one looking ahead and one looking backwards, providing a large field of view.



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