光束平差法，也称为Bundle Adjustment，是优化摄像机内外参数和3D点的一种方法。该过程涉及到特征匹配误差和相机相关的误差。每个相机中心和3D点集是调整的对象，同时需要良好的初始化条件。由于涉及大量参数，问题可能变得极其庞大，特别是当考虑相机的视角和众多3D点时。相机模型通常包括11个参数，分为5个内部参数和6个外部参数。
1. Reprojection Error——重投影误差
Reproject error is a geometric error corresponding to the image distance between a projected point and a measured one. It is used to quantify how closely an estimate of a 3D point X recreates the point's true projection x.
In compute vision domain, reprojection/reconstruction error includes two errors:
- feature matching errors;
- camera-related errors.
2.
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