{"id":"https://openalex.org/W4409257755","doi":"https://doi.org/10.1109/lra.2025.3558702","title":"Distributed Bundle Adjustment Based on Penalty Function Method","display_name":"Distributed Bundle Adjustment Based on Penalty Function Method","publication_year":2025,"publication_date":"2025-04-08","ids":{"openalex":"https://openalex.org/W4409257755","doi":"https://doi.org/10.1109/lra.2025.3558702"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3558702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3558702","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003239158","display_name":"Qixuan Sun","orcid":"https://orcid.org/0000-0002-3921-276X"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixuan Sun","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3921-276X","affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459828","display_name":"Guanghui Zhang","orcid":"https://orcid.org/0000-0003-0432-7329"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Zhang","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0432-7329","affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078385469","display_name":"Dongchen Zhu","orcid":"https://orcid.org/0000-0002-1579-3942"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongchen Zhu","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1579-3942","affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435848","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-0961-0441"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403837","display_name":"Xiaolin Zhang","orcid":"https://orcid.org/0000-0003-3307-9838"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Zhang","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3307-9838","affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035418350","display_name":"Jiamao Li","orcid":"https://orcid.org/0000-0002-7478-4544"},"institutions":[{"id":"https://openalex.org/I4210107198","display_name":"State Key Laboratory of Transducer Technology","ror":"https://ror.org/01qg56n75","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366","https://openalex.org/I19820366","https://openalex.org/I4210107198","https://openalex.org/I4210110458","https://openalex.org/I4210147322"]},{"id":"https://openalex.org/I4210147322","display_name":"Shanghai Institute of Microsystem and Information Technology","ror":"https://ror.org/04nytyj38","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210147322"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiamao Li","raw_affiliation_strings":["Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7478-4544","affiliations":[{"raw_affiliation_string":"Bionic Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai, China","institution_ids":["https://openalex.org/I4210107198","https://openalex.org/I4210147322"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8442,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69735412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"6","first_page":"5449","last_page":"5456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12983","display_name":"Satellite Image Processing and Photogrammetry","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14158","display_name":"Optical Systems and Laser Technology","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.7860676050186157},{"id":"https://openalex.org/keywords/penalty-method","display_name":"Penalty method","score":0.7384992837905884},{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.5858542919158936},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4754706919193268},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4380176365375519},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3082563281059265},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2932736277580261},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17953938245773315},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.11895152926445007},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06994733214378357}],"concepts":[{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.7860676050186157},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.7384992837905884},{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.5858542919158936},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4754706919193268},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4380176365375519},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3082563281059265},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2932736277580261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17953938245773315},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.11895152926445007},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06994733214378357},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3558702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3558702","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G3162305528","display_name":null,"funder_award_id":"62303441","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3274967629","display_name":null,"funder_award_id":"Grant22XD1424500","funder_id":"https://openalex.org/F4320335796","funder_display_name":"Program of Shanghai Academic Research Leader"},{"id":"https://openalex.org/G3967396710","display_name":null,"funder_award_id":"2021233","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320335796","display_name":"Program of Shanghai Academic Research Leader","ror":null},{"id":"https://openalex.org/F4320335892","display_name":"Youth Innovation Promotion Association","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1484371059","https://openalex.org/W1874298837","https://openalex.org/W1974832488","https://openalex.org/W2001790138","https://openalex.org/W2016179094","https://openalex.org/W2112404351","https://openalex.org/W2128132991","https://openalex.org/W2131681506","https://openalex.org/W2133192850","https://openalex.org/W2143116602","https://openalex.org/W2149454052","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2461079165","https://openalex.org/W2471962767","https://openalex.org/W2738551266","https://openalex.org/W2803297720","https://openalex.org/W2963052239","https://openalex.org/W3110163271","https://openalex.org/W3131673036","https://openalex.org/W3157804349","https://openalex.org/W3177200287","https://openalex.org/W4285549223","https://openalex.org/W4312949343","https://openalex.org/W4386047831"],"related_works":["https://openalex.org/W159468655","https://openalex.org/W2371097030","https://openalex.org/W2018662469","https://openalex.org/W2109185638","https://openalex.org/W2098882706","https://openalex.org/W1988507758","https://openalex.org/W2048756781","https://openalex.org/W2347558389","https://openalex.org/W122341662","https://openalex.org/W2106069570"],"abstract_inverted_index":{"Bundle":[0],"Adjustment":[1],"(BA)":[2],"aims":[3],"to":[4,47,236],"estimate":[5],"the":[6,13,21,32,35,49,54,62,66,72,75,83,95,108,115,149,154,157,170,179,188,197,205,215,227],"camera":[7],"poses":[8],"and":[9,57,105,183,214,229,240],"build":[10],"maps":[11],"utilizing":[12],"nonlinear":[14],"optimization":[15,22,68,155],"algorithm.":[16],"The":[17],"update":[18,151],"step":[19],"of":[20,34,52,74,85,110,153],"is":[23,31],"obtained":[24],"by":[25,141,200,209,219],"solving":[26,53],"a":[27,44,89,124],"linear":[28,55,117,159],"system,":[29],"which":[30,137],"bottleneck":[33],"BA":[36,193],"efficiency.":[37],"Many":[38],"works":[39],"perform":[40],"bundle":[41],"adjustment":[42],"in":[43,169,226],"distributed":[45,63,91],"manner":[46],"reduce":[48],"computational":[50],"cost":[51],"system":[56,118,160],"achieve":[58],"outstanding":[59],"performance.":[60],"However,":[61],"methods":[64],"implement":[65],"constrained":[67],"method":[69,177,182],"that":[70,100,174,233],"involves":[71],"computation":[73,109],"Lagrange":[76,180],"multiplier,":[77],"causing":[78],"extra":[79,111],"overhead.":[80],"To":[81,113],"improve":[82],"efficiency":[84],"BA,":[86],"we":[87,122],"propose":[88],"novel":[90,125],"algorithm":[92],"based":[93],"on":[94],"penalty":[96,158,176],"method,":[97,156],"dubbed":[98],"PenBA,":[99],"formulates":[101],"an":[102],"unconstrained":[103,116],"problem":[104],"hence":[106],"saves":[107],"variables.":[112],"solve":[114],"with":[119,164,187],"low":[120],"cost,":[121],"design":[123],"<italic":[126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127,129,135,202,211,221],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"/><bold":[128],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">distributed":[130],"Preconditioned":[131],"Conjugate":[132],"Gradient":[133],"(PCG)</b><italic":[134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"/>":[136],"has":[138],"complexity":[139],"bounded":[140],"hyper-parameters.":[142],"It":[143],"can":[144,161],"be":[145,162],"proved":[146],"that,":[147],"given":[148],"parameter":[150],"strategy":[152],"solved":[163],"fast":[165],"convergence.":[166],"Experimental":[167,224],"results":[168,225],"BAL":[171],"dataset":[172],"illustrate":[173],"our":[175],"outperforms":[178],"multiplier":[181],"conventional":[184,191],"BA.":[185],"Compared":[186],"most":[189],"accurate":[190],"PCG-based":[192],"solver,":[194],"PenBA":[195,234],"decreases":[196],"objective":[198],"values":[199],"3.8<inline-formula":[201],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[203,212,222],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>,":[204],"time":[206],"per":[207],"iteration":[208],"17<inline-formula":[210],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[213],"maximum":[216],"memory":[217],"consumption":[218],"24<inline-formula":[220],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>.":[223],"SfM":[228],"SLAM":[230],"datasets":[231],"prove":[232],"applies":[235],"both":[237],"computer":[238],"vision":[239],"robotics":[241],"contexts.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}