CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment
Bundle adjustment (BA) remains a critical refinement module for image-based 3D reconstruction and continues to improve geometric accuracy even in learning-based pipelines. However, in low-parallax and near-rotational regimes, classical Schur-based Levenberg--Marquardt (LM) often becomes ill-conditioned and yields unreliable pose and calibration estimates. We propose Gate-Guided CSS-BA, a solver-side modification of Schur-LM that preserves the classical BA objective and trust-region framework while constraining each update to a geometrically informed low-dimensional subspace. By integrating Column Space Search (CSS) with geometry-aware gating, the method stabilizes the Schur-LM update with...
| Authors | Ayano Kaneda, Takafumi Taketomi, Shugo Yamaguchi et al. |
|---|---|
| Primary category | cs.CV |
| Published | 17 July 2026 |
| Last updated at source | 17 July 2026 |
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