The iterative Sfm alternating bundle adjustment method Break down the system into two phases SFM1: find pose phase SFM2: find model phase Initialize first guess of model The first guess is a flat model perpendicular to the image and is Zinit away e.g. Zinit =0.5 meters or any reasonable guess Iterative while( Err is not small SFM1: find pose phase SFM2: find model phase Measurement error(Err)or(model and pose stabilized) Pose estimation vo.aThe iterative SFM alternating bundle adjustment method • Break down the system into two phases: --SFM1: find pose phase --SFM2: find model phase • Initialize first guess of model – The first guess is a flat model perpendicular to the image and is Zinit away (e.g. Zinit = 0.5 meters or any reasonable guess) • Iterative while ( Err is not small ) • { – SFM1: find pose phase – SFM2: find model phase – Measurement error(Err) or(model and pose stabilized) • } Pose estimation V0.a 5