Philip F. McLauchlan

TL;DR: A survey of the theory and methods of photogrammetric bundle adjustment can be found in this article, with a focus on general robust cost functions rather than restricting attention to traditional nonlinear least squares.

TL;DR: This work describes the construction of accurate panoramic mosaics from multiple images taken with a rotating camera, or alternatively of a planar scene, and demonstrates that the method achieves better results than the alternative approach of optimising over pairs of images.

TL;DR: A bundle adjustment algorithm is formulated whose results are independent of both the coordinate frame chosen to represent the scene and the ordering of the images, which is more efficient that existing approaches to the problem in photogrammetry.

TL;DR: A review of the design and development of the Yorick series of active stereo camera platforms and their integration into real-time closed loop active vision systems, whose applications span surveillance, navigation of autonomously guided vehicles, and inspection tasks for teleoperation, including immersive visual telepresence.