A Self-calibration Bundle Adjustment Algorithm Based on Block Matrix Cholesky Decomposition Technology  

作　　者：Huasheng SUN Yuan ZHANG 

机构地区：[1]Shandong Provincial Key Laboratory of Water and Soil Conversation and Environmental Protection,School of Resources and Environment,Linyi University,Linyi 276000,China [2]Key Laboratory of Geographic Information Science,East China Normal University,Shanghai 200062,China

出　　处：《Journal of Geodesy and Geoinformation Science》2023年第1期11-30,共20页测绘学报（英文版）

基　　金：National Natural Science Foundation of China(Nos.41571410,41977067,42171422)。

摘　　要：In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.

关 键 词：bundle adjustment SELF-CALIBRATION block matrix Cholesky decomposition 

分 类 号：P207.2[天文地球—测绘科学与技术]