Conference paperPOLOK Lukáš, ILA Viorela S. and SMRŽ Pavel. 3D Reconstruction Quality Analysis and Its Acceleration on GPU Clusters. In: Proceedings of European Signal Processing Conference 2016. Budapest: Institute of Electrical and Electronics Engineers, 2016, pp. 18. ISBN 9780992862664.  Publication language:  english 

Original title:  3D Reconstruction Quality Analysis and Its Acceleration on GPU Clusters 

Title (cs):  Analýza kvality 3D rekonstrukce její akcelerace na GPU klustrech 

Pages:  18 

Proceedings:  Proceedings of European Signal Processing Conference 2016 

Conference:  European Signal Processing Conference EUSIPCO 2016 

Place:  Budapest, HU 

Year:  2016 

ISBN:  9780992862664 

Publisher:  Institute of Electrical and Electronics Engineers 

Keywords 

bundle adjustment, nonlinear least squares, Schur complement, matrix inverse, marginal covariances

Annotation 

3D reconstruction has a wide variety of applications in computer graphics, robotics or digital cinema production, among others. With the rapid increase in computing power, it has become more feasible for the reconstruction algorithms to run online, even on mobile devices. Maximum likelihood estimation (MLE) is the adopted technique to deal with the sensor uncertainty. Most of the existing 3D reconstruction frameworks only recover the mean of the reconstructed geometry. Recovering also the variance is highly computationally intensive and is seldom performed. However, variance is the natural choice of estimate quality indicator. In this paper, the associated costs are analyzed and efficient but exact solutions to calculating partial matrix inverses are proposed, which apply to any general problem with many mutually independent variables. Speedups exceeding an order of magnitude are reported. 
BibTeX: 

@INPROCEEDINGS{
author = {Luk{\'{a}}{\v{s}} Polok and S. Viorela Ila and Pavel
Smr{\v{z}}},
title = {3D Reconstruction Quality Analysis and Its Acceleration on
GPU Clusters},
pages = {18},
booktitle = {Proceedings of European Signal Processing Conference 2016},
year = {2016},
location = {Budapest, HU},
publisher = {Institute of Electrical and Electronics Engineers},
ISBN = {9780992862664},
language = {english},
url = {http://www.fit.vutbr.cz/research/view_pub.php?id=11186}
} 
