scholarly journals Sparse Sparse Bundle Adjustment

2010 ◽  
Author(s):  
Kurt Konolige
Keyword(s):  
Bundle Adjustment ◽  
Sparse Bundle Adjustment

scholarly journals Simultaneous Robot–World and Hand–Eye Calibration without a Calibration Object

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3949 ◽  
Author(s):  
Wei Li ◽  
Mingli Dong ◽  
Naiguang Lu ◽  
Xiaoping Lou ◽  
Peng Sun
Keyword(s):  
Three Dimensional ◽  
Real Data ◽  
Medical Robotics ◽  
Calibration Method ◽  
Bundle Adjustment ◽  
Data Sets ◽  
Rigid Transformation ◽  
Validation Experiment ◽  
Dimensional Reconstruction ◽  
Sparse Bundle Adjustment

An extended robot–world and hand–eye calibration method is proposed in this paper to evaluate the transformation relationship between the camera and robot device. This approach could be performed for mobile or medical robotics applications, where precise, expensive, or unsterile calibration objects, or enough movement space, cannot be made available at the work site. Firstly, a mathematical model is established to formulate the robot-gripper-to-camera rigid transformation and robot-base-to-world rigid transformation using the Kronecker product. Subsequently, a sparse bundle adjustment is introduced for the optimization of robot–world and hand–eye calibration, as well as reconstruction results. Finally, a validation experiment including two kinds of real data sets is designed to demonstrate the effectiveness and accuracy of the proposed approach. The translation relative error of rigid transformation is less than 8/10,000 by a Denso robot in a movement range of 1.3 m × 1.3 m × 1.2 m. The distance measurement mean error after three-dimensional reconstruction is 0.13 mm.

WM-SBA: Weighted multibody sparse bundle adjustment

2015 ◽  
Author(s):  
Kai Cordes ◽  
Mark Hockner ◽  
Hanno Ackermann ◽  
Bodo Rosenhahn ◽  
Jorn Ostermann
Keyword(s):  
Bundle Adjustment ◽  
Sparse Bundle Adjustment

POS supported sparse bundle adjustment and its application in power line inspection

2006 ◽  
Author(s):  
Qiaozhi Li ◽  
Wuming Zhang ◽  
Ning Wang ◽  
Guangjian Yan ◽  
Guoqing Zhou
Keyword(s):  
Power Line ◽  
Bundle Adjustment ◽  
Sparse Bundle Adjustment

A Fast Orthoimage Mosaic Method for Application of Grid

2012 ◽  
Vol 151 ◽  
pp. 685-689
Author(s):  
Zheng Guo Li ◽  
Bo Wang ◽  
Yong Sheng Zhang ◽  
Xiao Chong Tong ◽  
Wei Can Meng ◽  
...  
Keyword(s):  
Bundle Adjustment ◽  
Original Image ◽  
Adjustment Method ◽  
Marquardt Method ◽  
Mosaic Image ◽  
Geometric Precision ◽  
Computational Speed ◽  
Levenberg Marquardt ◽  
Relationship Of ◽  
Sparse Bundle Adjustment

Traditional orthoimage mosaic methods do not perform well in computational speed and geometric precision. This paper proposed a fast orthoimage mosaic method for the application of grid. First of all, down-sample the original images and extracts feature, and adopt SANSAC to estimate the relative initial homography; second, refine homography matrix by Levenberg-Marquardt method and use the sparse bundle adjustment method to estimate the precise homography matrix; Third, passed the homography matrix to the original level of image by the homography relationship of the down-sampling and original image. Finally, synthesize the mosaic image. Our experiments showed that the method combined the down-sampling homography relationship of original image with sparse bundle adjustment organically, which effectively improved the speed and obtained geometric seamless mosaic.

Sign in / Sign up

Export Citation Format

Share Document