Authors:
Cornelius Wefelscheid
and
Olaf Hellwich
Affiliation:
Berlin University of Technology, Germany
Keyword(s):
Least Squares Optimization, Bundle Adjustment, Levenberg Marquardt, GPU, Open Source.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Applications and Services
;
Camera Networks and Vision
;
Computer Vision, Visualization and Computer Graphics
;
Geometry and Modeling
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Software Engineering
;
Stereo Vision and Structure from Motion
Abstract:
In the area of computer vision and robotics non-linear optimization methods have become an important tool.
For instance, all structure from motion approaches apply optimizations such as bundle adjustment (BA). Most
often, the structure of the problem is sparse regarding the functional relations of parameters and measurements.
The sparsity of the system has to be modeled within the optimization in order to achieve good performance.
With OpenOF, a framework is presented, which enables developers to design sparse optimizations regarding
parameters and measurements and utilize the parallel power of a GPU. We demonstrate the universality of our
framework using BA as example. The performance and accuracy is compared to published implementations
for synthetic and real world data.