Building Computer Vision Projects with OpenCV 4 and C++

Bundle Adjustment

When a transformation has been achieved locally between all photo pairs, we can further optimize our solution in a global step. This is called the process of bundle adjustment, and is widely constructed as a global optimization of all the reconstruction parameters (camera or image transforms). Global bundle adjustment is best performed if all the matched points between images are put in the same coordinate frame, for example, a 3D space, and there are constraints that span more than two images. For example, if a feature point appears in more than two images in the panorama, it can be useful for global optimization, since it involves registering three or more views. 

The goal in most bundle adjustment methods is to minimize ...