北京大学学报（自然科学版）2026，Vol.62Issue(5)：999-1014,16.DOI:10.13209/j.0479-8023.2026.104
图像三维重建下视差角与笛卡尔参数化的光束法平差收敛性对比
Comparison of Bundle Adjustment Convergence Using Parallax-Angle and Cartesian Parameterizations for Image-Based 3D Reconstruction:Experimental Validation across over 100 Datasets
摘要
Abstract
To address the problems of limited-scale comparative experiments against mainstream approaches and inconsistent optimizer configurations when applying parallax-angle parameterization to image-based 3D reconstruc-tion,106 bundle adjustment(BA)datasets were constructed spanning vehicle-borne,UAV,and close-range scenarios.We standardized the solution workflows for the mainstream Cartesian-coordinate parameterization(SBA)and parallax-angle parameterization(PBA)methods to ensure a fair comparison.The two methods were systematically evaluated in terms of convergence,computational time,image-space accuracy,and parameter-space accuracy.The experimental results showed that,across the 106 paired datasets,PBA generally required significantly fewer iterations than SBA,exhibiting a faster convergence trend.In representative scenarios with relatively large initial point-cloud noise or divergence of the Cartesian-coordinate method,PBA yielded more stable optimization results in both image and parameter spaces.The datasets and source code are publicly available at https://reurl.cc/OmZz09 and https://github.com/Polar-vision/PBA-V3.关键词
视差角/笛卡尔/三维点参数化/BA数据集/收敛性Key words
parallax-angle/Cartesian/3D point parameterization/BA dataset/convergence引用本文复制引用
谭平,王强,卢文艺,赵李杰,杨冲,李小凯,刘文轩,杨洋,韩秉宏,代云凡,左正康,高云龙,刘东霞,董娇娇,王嘉伟,朱桂海,徐二帅..图像三维重建下视差角与笛卡尔参数化的光束法平差收敛性对比[J].北京大学学报（自然科学版）,2026,62(5):999-1014,16.基金项目
国家自然科学基金青年科学基金项目(C 类)(T2600787)、山西省青年科学研究项目(202403021212106)和太原理工大学引进人才科研启动经费(RY2400000591)资助 （C 类）
