Patent Document ID: 8693734
Application ID: 13300277
Patent Status: 1

Claim One:
1. A method, comprising: performing, by one or more computing devices: obtaining structure and motion parameter estimates for a three-dimensional (3D) reconstruction of a scene based on a set of images, the structure and motion parameters including one or more camera parameters and a plurality of 3D points in the scene; and applying bundle adjustment to the structure and motion parameter estimates, said bundle adjustment comprises: computing a 3×3 matrix for each of the plurality of 3D points from a Jacobian matrix for the structure and motion parameter estimates; detecting one or more poorly conditioned points in the plurality of 3D points, said detecting for each of the plurality of 3D points comprises checking a rank of the respective 3×3 matrix, where a corresponding 3D point is poorly conditioned if the rank is less than 3; removing the detected one or more poorly conditioned points from the plurality of 3D points; and optimizing the structure and motion parameter estimates to generate optimized structure and motion parameter estimates.