Initialization-Free Bundle Adjustment Revisited: A Controlled Experimental Study
Initialization-free bundle adjustment (InitFree BA) aims to recover camera poses and scene structure directly from image observations, avoiding the geometric initialization stages of conventional structure-from-motion pipelines. Recent methods based on Object-Space Error (OSE) formulations and Variable Projection (VarPro) show encouraging optimization behavior from random camera configurations. However, existing evaluations primarily measure optimization success, leaving unclear whether a low OSE objective yields a valid metric 3D reconstruction. We revisit InitFree BA experimentally through a unified evaluation framework combining a C++ implementation of existing OSE formulations with a ...
| Authors | Simon Weber, Mateo de Mayo, Je Hyeong Hong et al. |
|---|---|
| Primary category | cs.CV |
| Published | 18 August 2026 |
| Last updated at source | 18 August 2026 |
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