Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation etc. Essentially, BA is a joint non-linear optimization problem, and one which can consume a significant amount of time and power, especially for large optimization problems. Previous approaches of optimizing BA performance heavily rely on parallel processing or distributed computing, which trade higher power consumption for higher performance. In this paper we propose -BA, the first hardware-software co-designed BA engine on an embedded FPGA-SoC that exploits custom hardware for higher performance and power efficiency. Specifically, based on our key observation that not all points appear on all images in a BA problem, we designed and implemented a Co-Observation Optimization technique to accelerate BA operations with optimized usage of memory and computation resources. Experimental results confirm that -BA outperforms the existing software implementations in terms of performance and power consumption.
Similarly, Zhang proposed a distributed approach for very large scale global bundle adjustment computation @cite_4 . The proposed distributed formulation was derived from the classical optimization algorithm alternating direction method of multipliers, based on the global camera consensus. The authors analyzed the conditions under which the convergence of this distributed optimization would be guaranteed and they adopted over-relaxation and self-adaption schemes to improve the convergence rate. Also, the authors proposed to split the large scale camera-point visibility graph in order to reduce the communication overheads of the distributed computing.
@cite_4
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The increasing scale of Structure-from-Motion is fundamentally limited by the conventional optimization framework for the all-in-one global bundle adjustment. In this paper, we propose a distributed approach to coping with this global bundle adjustment for very large scale Structure-from-Motion computation. First, we derive the distributed formulation from the classical optimization algorithm ADMM, Alternating Direction Method of Multipliers, based on the global camera consensus. Then, we analyze the conditions under which the convergence of this distributed optimization would be guaranteed. In particular, we adopt over-relaxation and self-adaption schemes to improve the convergence rate. After that, we propose to split the large scale camera-point visibility graph in order to reduce the communication overheads of the distributed computing. The experiments on both public large scale SfM data-sets and our very large scale aerial photo sets demonstrate that the proposed distributed method clearly outperforms the state-of-the-art method in efficiency and accuracy.