Before revision: Given a set of images depicting a number of 3D points from different viewpoints , bundle adjustment can be defined as the problem of simultaneously refining the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical characteristics of the camera(s) employed to acquire the images, according to an optimality criterion involving the corresponding image projections of all points.
After revision: In photogrammetry and computer stereo vision , bundle adjustment isgiven a set of images depicting a number of 3D points from different viewpoints.Its name refers to the geometrical bundles of light rays originating from each 3D feature and converging on each camera's optical center, which are adjusted optimally the problem of simultaneously refining the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical characteristics of the camera(s) employed to acquire the images, according to an optimality criterion involving the corresponding image projections of all points.