1. Space Security Research Center, Space Engineering University, Beijing 101416, China 2. 91039 Troops, Beijing 102400, China 3. School of Geospatial Information, Information Engineering University, Zhengzhou 450001, China
Aimed at tackling the problems that there are many mismatched points in the bundle adjustment of unmanned aerial vehicle (UAV) images, the variance loss function may cause the distortion of the solution parameters, and there exists large deviation from the true value which even causes impossibility of converge, the authors applied a robust bundle adjustment method considering the reliability of the observation value. This method uses loss function as a strategy to suppress gross errors, and is a variant designed on the basis of Cauchy loss function. The main idea of this method is adjusting the total loss function adaptively according to the mean value and variance of overlap degree and the residual of feature points, so as to overcome the influence of mismatched points on the computation of image parameters. Correspondingly, a practical accuracy evaluation method independent of ground control point (GCP) was designed. Experiments show that the method can still get robust adjustment results with high mismatch rate, and hence it is practical.
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2020, Vol. 32 
