Experimental Validation of Nonlinear Optimization Frameworks for Solving Bundle Adjustment in Structure from Motion

Structure from Motion (SfM) is a proficient technique for 3D reconstruction from multiple views. However, its potentials could only be seen after the development of computer and digital photograph especially in the developing countries. Nowadays, SfM is applied in many applicative scenarios ranging from earth observation to heritage documentation. An important task in SfM that has been solved just recently in practice is bundle adjustment, which is accomplished through nonlinear least-squares optimization based on Levenberg-Marquardt (LM) algorithm. The aim of this paper is to present an experimental validation of the most popular open-source optimization frameworks, which implanted LM algorithm for solving bundle adjustment in SfM. For this purpose, the comparison among their performance is conducted by using bundle adjustment in the large benchmark.