Resection-Intersection Bundle Adjustment Revisited

Algorithm 1

Resection-intersection with linear triangulation and update tracking.

(1.1)  begin

(1.2)    while  Significant total change recorded do

(1.3)    foreach  Camera with significant change do

(1.4)    Reset camera’s change to zero.

(1.5)    Apply LM refinement to camera parameters.

(1.6)    Distribute error change resulting from refinement to points visible in current camera.

(1.7)    end

(1.8)    foreach  Point with significant change do

(1.9)    Reset point’s change to zero.

(1.10)     Triangulate using linear method.

(1.11)      Apply LM refinement to point.

(1.12)     Distribute change due to refinement to observing cameras.

(1.13)    end

(1.14)   end

(1.15) end