BundleACeres - Structure from Motion using Bundle Adjustment with the Ceres Solver

1Technical University of Munich
Code

Abstract

An implementation of Bundle Adjustment with the Ceres Solver as optimizer.

It matches a chain of incoming RGB images using ORB keypoints and BRISK descriptors in order to find 3D points.

The Ceres Solver is then used to jointly solve for the locations of 3D points and camera poses of the frames.

It is implemented in modern C++14 and utilizes OpenCV 3, Ceres, PCL and others.

Readme

This is an implementation of Bundle Adjustment with the Ceres Solver as optimizer. It matches a chain of incoming RGB images using ORB keypoints and BRISK descriptors in order to find 3D points. The Ceres Solver is then used to jointly solve for the locations of 3D points and camera poses of the frames. Ground-truth information about depth and camera poses is used for the first chain of frames in order to provide a usable initialization. The implementation utilizes the follwing dependencies and is written in modern C++14.

Dependencies

  • Eigen3 for geometry operations
  • OpenCV 3 for data management and feature matching
  • Ceres for solving the optimization problem
  • PCL 1.8 for visualization
  • OpenEXR for loading RGB and depth information from exr files

Usage

  • Provide input data in the data/ folder, consisting of exr files with RGB-D information and a file containing all ground-truth poses