Structureless Bundle Adjustment for Robotics

Global Epipolar Adjustment is an alternative formulation for solving the Bundle Adjustment problem without explicitly considering the points in the map, hence it is structureless. Albeit computationally interesting, this formulation has not found extensive use in robotics applications. In this paper we experimentally analyze the advantages and the shortcomings of \gls{gea} and \gls{ba}. The goal of this work is to characterize the situations when the use of one might be convenient over the other. We made available an open source C++ implementation of all approaches at the time of writing.