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Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. (arXiv:2305.07026v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
Scaling to arbitrarily large bundle adjustment problems requires data and
compute to be distributed across multiple devices. Centralized methods in prior
works are only able to solve small or medium size problems due to overhead in
computation and communication. In this paper, we present a fully decentralized
method that alleviates computation and communication bottlenecks to solve
arbitrarily large bundle adjustment problems. We achieve this by reformulating
the reprojection error and deriving a novel surrogate function that decouples
optimization variables from …
arxiv communication computation compute data decentralization decentralized devices distributed medium multiple paper prior scale scaling small