The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package Based on the Levenberg-Marquardt Algorithm

Bundle adjustment using the Levenberg-Marquardt minimization algorithm is almost invariably used as the last step of every feature-based structure and motion estimation computer vision algorithm to obtain optimal 3D structure and viewing parameter estimates. However, due to the large number of unknowns contributing to the minimized reprojection error, a general purpose implementation of the Levenberg-Marquardt … Read more