{"id":"https://openalex.org/W4403796426","doi":"https://doi.org/10.1109/tro.2026.3706557","title":"Bundle Adjustment in the Eager Mode","display_name":"Bundle Adjustment in the Eager Mode","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W4403796426","doi":"https://doi.org/10.1109/tro.2026.3706557"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2026.3706557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3706557","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2409.12190","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114419000","display_name":"Zitong Zhan","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zitong Zhan","raw_affiliation_strings":["Spatial AI &amp; Robotics (SAIR) Lab, University at Buffalo, Buffalo, NY, USA"],"raw_orcid":"https://orcid.org/0009-0003-4111-766X","affiliations":[{"raw_affiliation_string":"Spatial AI &amp; Robotics (SAIR) Lab, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641496","display_name":"Huan Xu","orcid":"https://orcid.org/0000-0002-1760-6303"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huan Xu","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0009-0002-8340-2031","affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030681141","display_name":"Zhuangxin Fang","orcid":"https://orcid.org/0009-0001-8512-4170"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zihang Fang","raw_affiliation_strings":["Purdue University, Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University, Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinpeng Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinpeng Wei","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021663144","display_name":"Yifeng Hu","orcid":"https://orcid.org/0000-0002-4287-5185"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaoyu Hu","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6399-5100","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101748298","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-6849-6362"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Spatial AI &amp; Robotics (SAIR) Lab, University at Buffalo, Buffalo, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-4630-0805","affiliations":[{"raw_affiliation_string":"Spatial AI &amp; Robotics (SAIR) Lab, University at Buffalo, Buffalo, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00380266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"2727","last_page":"2744"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.13660000264644623,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.13660000264644623,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12487","display_name":"Structural Engineering and Vibration Analysis","score":0.12070000171661377,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.6175428032875061},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5319464802742004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2907581925392151},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09163054823875427},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.07385563850402832},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.04490101337432861}],"concepts":[{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.6175428032875061},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5319464802742004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2907581925392151},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09163054823875427},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.07385563850402832},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.04490101337432861}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2026.3706557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3706557","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2409.12190","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2409.12190","pdf_url":"https://arxiv.org/pdf/2409.12190","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2409.12190","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2409.12190","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.12190","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2409.12190","pdf_url":"https://arxiv.org/pdf/2409.12190","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4384890880","https://openalex.org/W4312613015","https://openalex.org/W2001136280","https://openalex.org/W2515636624","https://openalex.org/W4296591829","https://openalex.org/W2347701390","https://openalex.org/W999420501","https://openalex.org/W3123401086","https://openalex.org/W2469151836","https://openalex.org/W4245577662"],"abstract_inverted_index":{"Bundle":[0],"adjustment":[1],"(BA)":[2],"is":[3,49],"a":[4,119],"critical":[5],"technique":[6],"in":[7,45],"various":[8],"robotic":[9],"applications":[10],"such":[11,26,70],"as":[12,27,71],"simultaneous":[13],"localization":[14],"and":[15,21,30,63,74,95,123,147,156],"mapping":[16],"(SLAM),":[17],"augmented":[18],"reality":[19],"(AR),":[20],"photogrammetry.":[22],"BA":[23,55,68,107,133],"optimizes":[24],"parameters":[25],"camera":[28],"poses":[29],"3D":[31],"landmarks":[32],"to":[33,53,153],"align":[34],"them":[35],"with":[36,56,80,111,113],"observations.":[37],"With":[38],"the":[39],"growing":[40],"importance":[41],"of":[42,93,144],"deep":[43,57,82],"learning":[44,58,83],"perception":[46],"systems,":[47],"there":[48],"an":[50,105,141],"increasing":[51],"need":[52],"integrate":[54],"frameworks":[59],"for":[60,128],"enhanced":[61],"reliability":[62],"performance.":[64],"However,":[65],"widely-used":[66],"C++-based":[67],"libraries,":[69],"GTSAM,":[72,154],"g$^2$o,":[73,155],"Ceres":[75],"Solver,":[76],"lack":[77],"native":[78],"integration":[79],"modern":[81],"libraries":[84],"like":[85],"PyTorch.":[86],"This":[87],"limitation":[88],"affects":[89],"their":[90],"flexibility,":[91],"ease":[92],"debugging,":[94],"overall":[96],"implementation":[97],"efficiency.":[98,115],"To":[99],"address":[100],"this":[101],"gap,":[102],"we":[103],"introduce":[104],"eager-mode":[106,132],"library":[108],"seamlessly":[109],"integrated":[110],"PyTorch":[112],"high":[114],"Our":[116,131],"approach":[117],"includes":[118],"sparsity-aware":[120],"auto-differentiation":[121],"design":[122],"GPU-accelerated":[124],"sparse":[125],"operations":[126],"designed":[127],"2nd-order":[129],"optimization.":[130],"on":[134],"GPU":[135],"demonstrates":[136],"substantial":[137],"runtime":[138],"efficiency,":[139],"achieving":[140],"average":[142],"speedup":[143],"18.5$\\times$,":[145],"22$\\times$,":[146],"23$\\times$":[148],"across":[149],"all":[150],"benchmarks":[151],"compared":[152],"Ceres,":[157],"respectively.":[158]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2024-10-27T00:00:00"}
