Incremental light bundle adjustment for structure from motion and robotics

Vadim Indelman, Richard Roberts, Frank Dellaert

Abstract: Highlights•A novel approach for structureless incremental bundle adjustment is developed.•Observed 3D points are algebraically eliminated.•Optimization employs incremental smoothing for efficiently recovering MAP estimate.•3D points can be reconstructed at any time, but only if required.•Probabilistic analysis and performance study are conducted.•Application both to structure from motion and robotics problems.