bundle block adjustment with 3d natural cubic splines

y each two points, which are four extended collinearity equations (3.18) and one arclengthparameterization equation (3.39). While tangents are modeled analytically instraight lines and conic sections, the parametric representation of the tangent of the3D natural cubic spline can not be generated in a global fashion. Integrated modelprovides not only the recovery of image orientation parameters but also surface reconstructionusing 3D curves. Of course since the equation system of the integratedmodel has datum defects of seven, the control information about the coordinate systemis required to obtain parameters. This is a step toward higher level vision taskssuch as object recognition and surface reconstruction.Figure 4.1: Concept of bundle block adjustment with splines57