Bundle Adjustment

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Overview

Bundle adjustment estimates camera poses and scene structure together, usually by minimizing reprojection errors across many images; it underpins structure-from-motion, visual SLAM, and camera calibration. Classical solvers use sparse nonlinear least squares, often with Gauss–Newton or Levenberg–Marquardt updates and Schur-complement elimination, while newer systems exploit GPUs or square-root formulations for speed. Methods also incorporate robust losses, depth and inertial priors, multi-sensor constraints, or learned image matching, and extend the optimized structure beyond points to lines and other geometric groups. A central challenge is achieving fast, stable optimization when initialization is poor or geometry is weak, without sacrificing accuracy or global consistency as datasets grow.

Latest papers

CardsList

21 papers3 papers in the last four weeks, level with the four weeks before. 0.0% of all new papers.

  1. Smart Fusion for Adaptive Visual-IMU Weighting in cuVSLAM Sparse Bundle Adjustment

    Oct 14, 2026Wonju Lee, Dara Molloy, Abhilash Nand Kumar +5Visual-Inertial SLAMVisual-Inertial Odometry

    Analog Devices Inc. · NVIDIA

  2. RootSLAM: Square Root Bundle Adjustment for Visual-Inertial SLAM

    Oct 10, 2026Tomás Santucci, Mateo de Mayo, Daniel Cremers +1Visual-Inertial SLAMBundle Adjustment

    National University of Rosario, Rosario, Argentina · Technical University of Munich and the Munich Center for Machine Learning, Munich, Germany · CIFASIS (CONICET-UNR), Rosario, Argentina

  3. The Impact of Processing Parameters on High-Accuracy Measurements in UAV Photogrammetry

    Oct 1, 2026Paweł Ćwiąkała, Edyta Puniach, Elżbieta Pastucha +1Bundle Adjustment3D Reconstruction

    AGH University of Krakow, al. A. Mickiewicza 30, 30-059 Krakow, Poland · The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Campusvej 55, DK-5230 Odense, Denmark

  4. BLASt3R: Bundle Adjustment of Any Image Set with Multi-View Matching and Monocular Priors

    Sep 4, 2026Vincent Leroy, Philippe Weinzaepfel, Lojze Zust +2Structure from MotionBundle Adjustment

    NAVER LABS Europe

  5. Stable and Scalable Bundle Adjustment of Holistic 3D Structures

    Sep 3, 2026Shaohui Liu, Rémi Pautrat, Daniel Barath +3Multi-View GeometryBundle Adjustment

    ETH Zurich · Microsoft Spatial AI Lab · Australian National University +1

  6. Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration

    Sep 1, 2026Yiran Zhou, Yingyu Wang, Shoudong Huang +1Bundle Adjustment3D Reconstruction

    Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW 2007, Australia · School of Informatics, The University of Edinburgh, Edinburgh EH8 9AB, U.K.

  7. Triangulation-Free Bundle Adjustment with Graduated Non-Convexity for Camera Pose Refinement from Coarse Priors

    Aug 21, 2026Nikolaos KyriazisBundle AdjustmentCamera Pose Estimation

  8. Initialization-Free Bundle Adjustment Revisited: A Controlled Experimental Study

    Aug 18, 2026Simon Weber, Mateo de Mayo, Je Hyeong Hong +3Bundle Adjustment3D Reconstruction

    department of Computer Science at the University of Oxford, United Kingdom · Technical University of Munich and the Munich Center for Machine Learning, Germany · department of Electronic Engineering at Hanyang University, South Korea +1

  9. ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras

    Aug 10, 2026Mingrui Liu, Xingxing Zuo, Renlang Huang +3Bundle AdjustmentVisual Odometry

    College of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China. · Department of Robotics, Mohamed Bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, PO Box 7909, UAE.

  10. DROID-ANCHOR: Odometry-Anchored Recurrent Metric Depth Estimation

    Jul 19, 2026Yuxuan Chen, Brook DuSimultaneous Localization and MappingBundle Adjustment

    UC Berkeley

  11. CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment

    Jul 17, 2026Ayano Kaneda, Takafumi Taketomi, Shugo Yamaguchi +1Multi-View GeometryBundle Adjustment

    Waseda University, Tokyo, Japan · CyberAgent, Inc., Tokyo, Japan

  12. Glob3R: Global Structure-from-Motion with 3D Foundation Models

    Jul 10, 2026Junyuan Deng, Heng Li, Kejie Qiu +7Bundle AdjustmentMulti-View 3D Reconstruction

    The Hong Kong University of Science and Technology · Tongyi Lab, Alibaba Group · Nanjing University +1

  13. BA-T: An Iterative Transformer for Two-View Bundle Adjustment

    Jun 2, 2026Ganlin Zhang, Weirong Chen, Daniel Cremers +1Multi-View Consistency3D ViTs

    TU Munich · MCML · ETH Zurich

  14. Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinement

    May 29, 2026Aziz Al-Najjar, Marzieh Amini, James R. Green +1Multi-View GeometryBundle Adjustment

    Department of System and Computer Engineering, Carleton University, Ottawa, Canada

  15. Caspar: CUDA Accelerator for Symbolic Programming with Adaptive Reordering

    May 28, 2026Emil Martens, Aaron Miller, Matias Varnum +1Bundle AdjustmentGPU Kernel Optimization

    Norwegian University of Science and Technology · Skydio

  16. RAMBA: 4D Radar Mapping by Bundle Adjustment

    May 24, 2026Jianzhu Huai, Yiwen Chen, Binliang WangSimultaneous Localization and MappingBundle Adjustment

    State Key Lab of Info Engineering in Surveying, Mapping and Remote Sensing, 129 Luoyu Road, Hongshan District, Wuhan, Hubei, China

  17. On RGB-TIR Stereo Calibration under Extreme Resolution Asymmetry

    May 15, 2026Michał Król, Michał Salamonowicz, Władysław Skarbek +1Thermal ImagingBundle Adjustment

    Independent Researcher, Poland · Warsaw University of Technology, Poland · Polish Japanese Academy of Information Technology, Poland

  18. A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment

    Apr 26, 2026Shunkun Liang, Banglei Guan, Bin Li +2Multi-View GeometryBundle Adjustment

    College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410000, China

  19. ViBA: Implicit Bundle Adjustment with Geometric and Temporal Consistency for Robust Visual Matching

    Apr 3, 2026Xiaoji Niu, Yuqing Wang, Yan Wang +2Bundle AdjustmentVisual Odometry

    GNSS Research Center, Wuhan University, Wuhan 430079, China · Electronic Information School, Wuhan University, Wuhan 430079, China · Hubei Technology Innovation Center for Spatiotemporal Information and Positioning Navigation +1

  20. Marginalized Bundle Adjustment: Multi-View Camera Pose from Monocular Depth Estimates

    Feb 21, 2026Shengjie Zhu, Ahmed Abdelkader, Mark J. Matthews +2Camera Pose EstimationStructure from Motion

    Google · Michigan State University

  21. TurboMap: GPU-Accelerated Local Mapping for Visual SLAM

    Nov 3, 2025Parsa Hosseininejad, Kimia Khabiri, Shishir Gopinath +3Simultaneous Localization and MappingBundle Adjustment

    Simon Fraser University. · University at Buffalo.