Extending parallax parameterised bundle adjustment to stereo

Leighton, B; Zhao, L; Huang, S; Dissanayake, G

Extending parallax parameterised bundle adjustment to stereo

Leighton, B Zhao, L

Huang, S

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation, ACRA, 2017, 2017-December pp. 194 - 202
Issue Date:: 2017-01-01

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Field	Value	Language
dc.contributor.author	Leighton, B	en_US
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2017-01-01	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation, ACRA, 2017, 2017-December pp. 194 - 202	en_US
dc.identifier.isbn	9781510860117	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/125841
dc.description.abstract	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.	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation, ACRA	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Extending parallax parameterised bundle adjustment to stereo	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2017-December	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2017-December	en_US

Abstract:

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.

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http://hdl.handle.net/10453/125841