Towards Initialization-free Calibrated Bundle Adjustment

ArXi:2506.23808v2 Announce Type: replace A recent series of works has shown that initialization-free BA can be achieved using pseudo Object Space Error (pOSE) as a surrogate objective. The initial reconstruction-step optimizes an objective where all terms are projectively invariant and it cannot incorporate knowledge of the camera calibration. As a result, the solution is only determined up to a projective transformation of the scene and the process requires data for successful reconstruction.