Semantic Photometric Bundle Adjustment on Natural Sequences

Understand

The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision.

• Classically this problem has been solved through the application of bundle adjustment (BA).
• More recently, excellent results have been attained through the application of photometric bundle adjustment (PBA) methods -- which directly minimize the photometric error across frames.
• A fundamental drawback to BA & PBA, however, is: (i) their reliance on having to view all points on the object, and (ii) for the object surface to be well textured.