Bundle adjustment
3D → 2D
mapping
•a
function of intrinsics K, extrinsics R & t
•measurement
affected by noise
Log likelihood of K,R,t given {(ui,vi)}
Minimized via nonlinear least squares regression
•called “Bundle
Adjustment”
•e.g.,
Levenberg-Marquardt
–described in Press et
al., Numerical Recipes
