Bundle adjustment
![A sparse matrix obtained when solving a modestly sized bundle adjustment problem. This is the sparsity pattern of a 992×992 normal-equation (i.e. approximate Hessian) matrix. Black regions correspond to nonzero blocks.](/Images/godic/202501/02/Bundle_adjustment_sparse_matrix3909.png")
Given a set of images depicting a number of 3D points from different viewpoints, bundle adjustment can be defined as the problem of simultaneously refining the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical characteristics of the camera(s) employed to acquire the images, according to an optimality criterion involving the corresponding image projections of all points.