自动化学报2012，Vol.38Issue(9)：1428-1438,11.DOI:10.3724/SP.J.1004.2012.01428
针对大规模点集三维重建问题的分布式捆绑调整方法
Distributed Bundle Adjustment in 3D Scene Reconstruction with Massive Points
摘要
Abstract
Bundle adjustment (BA) is a crucial step in 3D scene reconstruction but time and memory consuming. In this paper, we try to tackle a frequently encountered BA problem where the reconstructed 3D points are more numerous than the camera parameters, namely massive-points BA problem. This is often the case when high-resolution images are used. We present a novel distributed bundle adjustment (DBA) algorithm for efficiently solving the massive-points BA problem, where the original BA problem is divided into sub-problems by partitioning the 3D reconstructed points. Such a partition scheme is in dependent of the input parameters, it could be applied to various BA problems. Two specific implementations, one on a shared memory cluster of 5 computers and the other on a cluster of 3 GPU (Graphic processing unit)-integrated computers, are developed. These implementations are experimentally compared with the classical single-thread sparse bundle adjustment (SBA). Experimental results show that our algorithm is up to 75 times faster than SB A, while maintaining comparable precision. And the one-computer memory requirements of these two implementations are just 1/7 and 1/4 of the original SBA.关键词
捆绑调整/计算机集群/图形处理器/运动相机重建三维结构Key words
Bundle adjustment (BA), cluster, graphic processing unit (GPU), structure from motion (SFM)引用本文复制引用
刘鑫,孙凤梅,胡占义..针对大规模点集三维重建问题的分布式捆绑调整方法[J].自动化学报,2012,38(9):1428-1438,11.基金项目
国家自然科学基金(60973005)和中国科学院战略性先导科技专项(XDA06030300)资助 （60973005）
