@TechReport{Albl-TR-2013-17,
  IS = { zkontrolovano 20 Jan 2014 },
  UPDATE  = { 2013-10-24 },
  author =       {Albl, {\v C}en{\v e}k and Pajdla, Tom{\'a}{\v s}},
  title =        {Global Camera Parameterization for Bundle Adjustment},
  institution =  {Center for Machine Perception, K13133 FEE Czech Technical
                  University},
  address =      {Prague, Czech Republic},
  year =         {2013},
  month =        {July},
  type =         {Research Report},
  number =       {CTU--CMP--2013--17},
  issn =         {1213-2365},
  pages =        {10},
  figures =      {3},
  authorship =   {50-50},
  psurl =        {[Albl-TR-2013-17.pdf]},
  project =      {FP7-SME-2011-285839 De-Montes, TACR TA02011275 ATOM, SGS13/202/OHK3/3T/13},
  annote =       {Bundle adjustment is an important optimization technique in
                  computer vision. It is a key part of Structure from Motion
                  computation. An important problem in Bundle Adjustment is to
                  choose a proper parameterization of cameras, especially
                  their orientations. In this paper we propose a new
                  parameterization of a perspective camera based on
                  quaternions, with no redundancy in dimensionality and no
                  constraints on the rotations. We conducted extensive
                  experiments comparing this parameterization to four other
                  widely used parameterizations. The proposed parameterization
                  is non-redundant, global, and achieving the same performance
                  in all investigated parameters. It is a viable and practical
                  choice for Bundle Adjustment.},
  keywords =     {Bundle Adjustment, Structure From Motion, Perspective
                  Camera, Camera Parameterization, Quaternion},
}