Simultaneous and sequential reconstruction of visual primitives with bundle adjustment
In this paper, we compare the various methods for the simultaneous and sequential reconstruction of points, lines, planes, quadrics, plane conics and degenerate quadrics using Bundle Adjustment, both in projective and metric space. In contrast, most existing work on projective reconstruction focuses mainly on one type of primitive. We also compare the simultaneous refinement of all primitives through Bundle Adjustment with various sequential methods were only certain primitives are refined together. We found that even though the sequential methods may seem somewhat arbitrary on the choice of which primitives are refined together, a higher precision and speed is achieved in most cases.
bundle adjustment quadrics projective reconstruction computer vision imaging geometry