TY - GEN
T1 - Extending parallax parameterised bundle adjustment to stereo
AU - Leighton, Brenton
AU - Zhao, Liang
AU - Huang, Shoudong
AU - Dissanayake, Gamini
PY - 2017/12/13
Y1 - 2017/12/13
N2 - The main contribution of this paper is the extension of the ParllaxBA algorithm proposed by [Zhao et al., 2015] into stereo. Simulated and experimental datasets are used to evaluate Cartesian and parallax angle parameterisation for stereo bundle adjustment. It is demonstrated that, like monocular ParallaxBA, under normal conditions the two algorithms perform similarly. However, when the parallax angle of landmarks is low, parallax parameterisation can converge to a lower cost and in less time than the traditional Cartesian parameterisation.
AB - The main contribution of this paper is the extension of the ParllaxBA algorithm proposed by [Zhao et al., 2015] into stereo. Simulated and experimental datasets are used to evaluate Cartesian and parallax angle parameterisation for stereo bundle adjustment. It is demonstrated that, like monocular ParallaxBA, under normal conditions the two algorithms perform similarly. However, when the parallax angle of landmarks is low, parallax parameterisation can converge to a lower cost and in less time than the traditional Cartesian parameterisation.
UR - https://www.scopus.com/pages/publications/85049793147
M3 - Conference contribution
AN - SCOPUS:85049793147
T3 - Australasian Conference on Robotics and Automation
SP - 194
EP - 202
BT - Australasian Conference on Robotics and Automation 2017
A2 - Alempijevic, Alen
A2 - Calleja, Teresa Vidal
A2 - Kodagoda, Sarath
PB - Australasian Robotics and Automation Association
T2 - Australasian Conference on Robotics and Automation 2017
Y2 - 11 December 2017 through 13 December 2017
ER -