Geometry in computer vision

Bundle adjustment

In photogrammetry and computer stereo vision, bundle adjustment is simultaneous refining of 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, given 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 according to an optimality criterion involving the corresponding image projections of all points. (Wikipedia).

Bundle adjustment
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Structure from motion | Computer stereo vision | Reprojection error | Camera matrix | Simultaneous localization and mapping | System of linear equations | MATLAB | Sparse matrix | Pinhole camera model | Coordinate system | Levenberg–Marquardt algorithm | Collinearity equation | Correspondence problem | Gaussian noise