A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866908994036039680 |
|---|---|
| author | Liang, Shunkun Guan, Banglei Li, Bin Yu, Qifeng Shang, Yang |
| author_facet | Liang, Shunkun Guan, Banglei Li, Bin Yu, Qifeng Shang, Yang |
| contents | Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced during bundle adjustment, where the non-linear optimization of both system poses and scene points incurs substantial computational overhead. To address this challenge, this paper introduces a pose-only geometric constraint for multi-camera systems and proposes a corresponding pose adjustment algorithm. Specifically, we use generalized camera model to establish a unified representation of the multi-camera system. Building upon this model, we formulate the multi-camera pose-only constraint, which implicitly represents a 3D scene point using two base observations and their associated poses, thereby achieving a pose-only representation of the projection geometry. Subsequently, we introduce a multi-camera pose adjustment algorithm that eliminates 3D points from the parameter space, thereby achieving efficient and focused pose optimization. Experimental results on both synthetic and real-world datasets demonstrate that the proposed algorithm outperforms baseline bundle adjustment methods in computational efficiency, while maintaining or even improving pose estimation accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_23704 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment Liang, Shunkun Guan, Banglei Li, Bin Yu, Qifeng Shang, Yang Computer Vision and Pattern Recognition Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced during bundle adjustment, where the non-linear optimization of both system poses and scene points incurs substantial computational overhead. To address this challenge, this paper introduces a pose-only geometric constraint for multi-camera systems and proposes a corresponding pose adjustment algorithm. Specifically, we use generalized camera model to establish a unified representation of the multi-camera system. Building upon this model, we formulate the multi-camera pose-only constraint, which implicitly represents a 3D scene point using two base observations and their associated poses, thereby achieving a pose-only representation of the projection geometry. Subsequently, we introduce a multi-camera pose adjustment algorithm that eliminates 3D points from the parameter space, thereby achieving efficient and focused pose optimization. Experimental results on both synthetic and real-world datasets demonstrate that the proposed algorithm outperforms baseline bundle adjustment methods in computational efficiency, while maintaining or even improving pose estimation accuracy. |
| title | A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2604.23704 |