Abstract
In this paper, we compare the various methods for the simultaneous and sequential reconstruction of points, lines, planes, quadrics, plane conics and degenerate quadrics using Bundle Adjustment, both in projective and metric space. In contrast, most existing work on projective reconstruction focuses mainly on one type of primitive. We also compare the simultaneous refinement of all primitives through Bundle Adjustment with various sequential methods were only certain primitives are refined together. We found that even though the sequential methods may seem somewhat arbitrary on the choice of which primitives are refined together, a higher precision and speed is achieved in most cases.
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Leo Reyes graduated in Computer Engineering at the University of Guadalajara in 1999 and gained his Master’s and Doctoral degrees in Computer Science from the Center of Research and Advanced Studies Guadalajara (Centro de Investigación y Estudios Avanzados del IPN, CINVESTAV Unidad Guadalajara) in 2001 and 2004, respectively. He is currently working on a private company doing automatic inspection research.
Eduardo Jose Bayro-Corrochano gained his Ph.D. in Cognitive Computer Science in 1993 from the University of Wales at Cardiff. From 1995 to 1999 he has been Researcher and Lecturer at the Institute for Computer Science, Christian Albrechts University, Kiel, Germany, working on applications of geometric Clifford algebra to cognitive systems. At present he is a full professor at CINVESTAV, Unidad Guadalajara, Computer Science Group and he is responsible for the GEOVIS laboratory. His current research interest focuses on geometric methods for artificial perception and action systems. It includes geometric neural networks, visually guided robotics, color image processing, Lie bivector algebras for early vision and robot maneuvering. He developed the quaternion wavelet transform for quaternion multi-resolution analysis using the phase concept. He is editor and author of the following books: Geometric Computing for Perception Action Systems, E. Bayro-Corrochano, Springer Verlag, 2001; Geometric Algebra with Applications in Science and Engineering, E. Bayro-Corrochano and G. Sobczyk (Eds.), Birkahauser 2001; Handbook of Computational Geometry for Pattern Recognition, Computer Vision, Neurocomputing and Robotics, E. Bayro-Corrochano, Springer Verlag, 2005. He has published over 100 refereed journal and conference papers.
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Reyes, L., Bayro-Corrochano, E. Simultaneous and Sequential Reconstruction of Visual Primitives with Bundle Adjustment. J Math Imaging Vis 25, 63–78 (2006). https://doi.org/10.1007/s10851-006-5148-7
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DOI: https://doi.org/10.1007/s10851-006-5148-7