Combining Bundle Adjustment with a Digital Terrain Map: Soft and hard constraints
作者： Amir Geva , Barak Pinkovich , Ehud Rivlin , Hector Rotstein
DOI: 10.1109/EURONAV.2017.7954218
关键词: Mathematical optimization 、 Approximation algorithm 、 Smooth surface 、 Geography 、 Convergence (routing) 、 Flight test 、 Bundle adjustment 、 Terrain
摘要: This paper presents an algorithm for computing a pose solution based on constraining the Bundle Adjustment with Digital Terrain Map. The approach is motivated by difficulties observed when using previous schemes solving realistic problems. Some specific implementation aspects are reviewed, and in particular approximating sampled DTM smooth surface discussed. contains thorough simulation study results of actual flight test. shown to have good convergence properties, even under relatively hard scenarios, consistent behavior parameters characterizing problem varied.
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