Efficient Bundle Adjustment for Coplanar Points and Lines
Lipu Zhou,Jiacheng Liu,Fengguang Zhai,Pan Ai,Kefei Ren,Yinian Mao,Guoquan Huang,Ziyang Meng,Michael Kaess,Lipu Zhou,Jiacheng Liu,Fengguang Zhai,Pan Ai,Kefei Ren,Yinian Mao,Guoquan Huang,Ziyang Meng,Michael Kaess
Bundle adjustment (BA) is a well-studied fundamental problem in the robotics and vision community. In man-made environments, coplanar points and lines are ubiquitous. However, the number of works on bundle adjustment with coplanar points and lines is relatively small. This paper focuses on this special BA problem, referred to as $\pi-\mathbf{BA}$. For a point or a line on a plane, we derive a new ...
