Unified bundle adjustment framework handles planes, vanishing points, and high-order geometric constraints at scale
zhenjun_zhao · x · 2026-09-05
Researchers from ETH Zurich (with Richard Hartley and Viktor Larsson) propose a unified framework extending bundle adjustment to jointly optimize geometric features and higher-order relations. Groups encoding relations like coplanarity and parallelism are modeled as camera-like entities; group constraints and cross-feature (point-line) relations are expressed via 2D reprojection errors, preserving the sparsity structure of classical point-based BA under Schur elimination while avoiding stability-degrading 3D regularization. Experiments on real and synthetic data show stability and scalability.
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