A Consensus-Based Framework for Distributed Bundle Adjustment

Anders Eriksson, John Bastian, Tat-Jun Chin, Mats Isaksson; The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016, pp. 1754-1762

Abstract


In this paper we study large-scale optimization problems in multi-view geometry, in particular the Bundle Adjustment problem. In its conventional formulation, the complexity of existing solvers scale poorly with problem size, hence this component of the Structure-from-Motion pipeline can quickly become a bottle-neck. Here we present a novel formulation for solving bundle adjustment in a truly distributed manner using consensus based optimization methods. Our algorithm is presented with a concise derivation based on proximal splitting, along with a theoretical proof of convergence and brief discussions on complexity and implementation. Experiments on a number of real image datasets convincingly demonstrates the potential of the proposed method by outperforming the conventional bundle adjustment formulation by orders of magnitude.

Related Material


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[bibtex]
@InProceedings{Eriksson_2016_CVPR,
author = {Eriksson, Anders and Bastian, John and Chin, Tat-Jun and Isaksson, Mats},
title = {A Consensus-Based Framework for Distributed Bundle Adjustment},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2016}
}