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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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25.01.2021

Richard Szeliski (University of Washington) will give a talk in the TUM AI lecture series on Jan 28th, 5pm! Livestream

10.12.2020

Frank Dellaert (Georgia Tech) will give a talk in the TUM AI lecture series on Dec 17th, 4pm! Livestream

15.10.2020

Jon Barron (Google) will give a talk in the TUM AI lecture series on Oct 22nd, 9pm! Livestream

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

More


Distributed Photometric Bundle Adjustment

Abstract

In this paper we demonstrate that global photometric bundle adjustment (PBA) over all past keyframes can significantly improve the global accuracy of a monocular SLAM map compared to geometric techniques such as pose-graph optimization or traditional (geometric) bundle adjustment. However, PBA is computationally expensive in runtime, and memory usage can be prohibitively high. In order to address this scalability issue, we formulate PBA as an approximate consensus program. Due to its decomposable structure, the problem can be solved with block coordinate descent in parallel across multiple independent workers, each having lower requirements on memory and computational resources. For improved accuracy and convergence, we propose a novel gauge aware consensus update. Our experiments on real-world data show an average error reduction of 62% compared to odometry and 33% compared to intermediate pose-graph optimization, and that compared to the central optimization on a single machine, our distributed PBA achieves competitive pose-accuracy and cost.

Open-Source Code

Coming soon: The source code is still being prepared and documented and will be released shortly. Feel free to watch the repository to get a notification when it becomes available: https://github.com/tum-vision/dbatk

Publication


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Conference and Workshop Papers
2020
[]Distributed Photometric Bundle Adjustment (N Demmel, M Gao, E Laude, T Wu and D Cremers), In International Conference on 3D Vision (3DV), 2020. ([project page][code]) [bibtex] [pdf]Oral Presentation
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Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group

News

25.01.2021

Richard Szeliski (University of Washington) will give a talk in the TUM AI lecture series on Jan 28th, 5pm! Livestream

10.12.2020

Frank Dellaert (Georgia Tech) will give a talk in the TUM AI lecture series on Dec 17th, 4pm! Livestream

15.10.2020

Jon Barron (Google) will give a talk in the TUM AI lecture series on Oct 22nd, 9pm! Livestream

02.10.2020

We have five papers accepted to 3DV 2020!

30.09.2020

Our effcient deep network architectures form the AI engine of the project Slow Down COVID-19 at Harvard.

More