Abstract
We revisit the problem of large-scale bundle adjustment and propose a technique called Multidirectional Conjugate Gradients that accelerates the solution of the normal equation by up to 61%. The key idea is that we enlarge the search space of classical preconditioned conjugate gradients to include multiple search directions. As a consequence, the resulting algorithm requires fewer iterations, leading to a significant speedup of large-scale reconstruction, in particular for denser problems where traditional approaches notoriously struggle. We provide a number of experimental ablation studies revealing the robustness to variations in the hyper-parameters and the speedup as a function of problem density.
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Weber, S., Demmel, N., Cremers, D. (2021). Multidirectional Conjugate Gradients for Scalable Bundle Adjustment. In: Bauckhage, C., Gall, J., Schwing, A. (eds) Pattern Recognition. DAGM GCPR 2021. Lecture Notes in Computer Science(), vol 13024. Springer, Cham. https://doi.org/10.1007/978-3-030-92659-5_46
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DOI: https://doi.org/10.1007/978-3-030-92659-5_46
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