The iterative Sfm alternating bundle adjustment method Break down the system into two phases SFM1: find pose phase SFM2 find model phase (method (a)or b)) 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) small or model and pose stabilized Pose estimation vo.a 16The iterative SFM alternating bundle adjustment method • Break down the system into two phases: --SFM1: find pose phase --SFM2: find model phase (method (A) or (B)) • 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) small or model and pose stabilized • } Pose estimation V0.a 16