Bundle Adjustment using lsqnonlin

버전 1.1.0.0 (5.41 KB) 작성자: Riccardo Giubilato
This code implements Bundle Adjustment using the Matlab function "lsqnonlin"
다운로드 수: 677
업데이트 날짜: 2017/11/1

>>Description:
In the main file a set of points and cameras are randomly generated being the points distributed on a plane and the cameras moving parallel to the plane. 2d image projections are computed per each point and camera observing that point using the true locations. After this step, Gaussian noise is added to the 3D coordinates of the points (x y z) and the 6D coordinates of the cameras (x y z phi theta psi). Then an optimization problem is formulated by defining a cost function using the reprojection error of the 3D points to the camera image planes.
Both Levenberg-Marquardt and Trust-Region-Reflective Least Squares are used. If it is specified to use the second algorithm, a matrix representing the Jacobian sparsity pattern is built to achieve a significant speedup of the optimization.
This code is written just to show the nature of a Bundle Adjustment problem and how it can be implemented. It meant to be used for academic purposes.
>>Usage:

Just run the main script. To change the geometry of the cameras or the geometry of the point cloud just edit the main script under the part Pose and Point Cloud Generation.

>>Compatibility:

Written and tested on Matlab 2016a (it should work also with less recent releases)

>>Notes:

If you find this code useful and you want to check my recent publications, please visit my ResearchGate page at this link: https://www.researchgate.net/profile/Riccardo_Giubilato
If you have any questions, my email address is riccardo.giubilato@gmail.com

인용 양식

Riccardo Giubilato (2024). Bundle Adjustment using lsqnonlin (https://github.com/RiccardoGiubilato/Test_BA), GitHub. 검색됨 .

MATLAB 릴리스 호환 정보
개발 환경: R2016a
모든 릴리스와 호환
플랫폼 호환성
Windows macOS Linux
카테고리
Help CenterMATLAB Answers에서 Point Cloud Processing에 대해 자세히 알아보기

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

GitHub 디폴트 브랜치를 사용하는 버전은 다운로드할 수 없음

버전 게시됨 릴리스 정보
1.1.0.0

added preview image

1.0.0.0

이 GitHub 애드온의 문제를 보거나 보고하려면 GitHub 리포지토리로 가십시오.
이 GitHub 애드온의 문제를 보거나 보고하려면 GitHub 리포지토리로 가십시오.