Global Trifocal Adjustment

Abstract

In this paper we introduce a fast and robust structure-less alternative to full bundle adjustment. The method is based on optimizing algebraic errors for trilinear constraints from triplets of views. It is shown that the error generated by a triplet of views can be described by a fixed triangular matrix regardless of the number of feature correspondences between the views. The method has been evaluated on various real and synthetic datasets and shows good convergence properties with a large convergence basin and solutions that are close to the optimal solution. The method has been compared to Global Epipolar Adjustment, GEA, which is based on the bilinear constraint. It will be shown that the method can handle the degenerate configurations of GEA.