Power Variable Projection for Initialization-Free Large-Scale Bundle Adjustment

arXiv:2405.05079v1 Announce Type: new
Abstract: Initialization-free bundle adjustment (BA) remains largely uncharted. While Levenberg-Marquardt algorithm is the golden method to solve the BA problem, it generally relies on a good initialization. In contrast, the under-explored Variable Projection algorithm (VarPro) exhibits a wide convergence basin even without initialization. Coupled with object space error formulation, recent works have shown its ability to solve (small-scale) initialization-free bundle adjustment problem. We introduce Power Variable Projection (PoVar), extending a recent inverse expansion method based on …

abstract algorithm arxiv contrast convergence cs.cv error free good object power projection scale solve space type while