ProBA replaces rigid point tracks with a probabilistic pose graph and 3D Gaussian landmarks, optimizing via negative log-likelihood with the Bhattacharyya coefficient to expand the basin of attraction in prior-free SfM.
In: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
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ProBA: Probabilistic Bundle Adjustment with the Bhattacharyya Coefficient
ProBA replaces rigid point tracks with a probabilistic pose graph and 3D Gaussian landmarks, optimizing via negative log-likelihood with the Bhattacharyya coefficient to expand the basin of attraction in prior-free SfM.