The final output of UAV Vision was prepared for the bundle
block adjustment sba (generic sparse bundle adjustment,
Lourakis and Argyros 2009) which is available as Open Source
software package, which, however, does require several
additional external libraries to be installed. This package had
been chosen due to the quite promising results derived in
classical photogrammetric applications. It was then very time
consuming to derive the correct input conditions for sba, due to
the limited code descriptions. A lot of development and testing
was required to provide the input data with proven correctness.
Having provided all necessary input data for sba including the
required approximate values for the unknowns, the results by
sba were, however, rather disappointing. For the data we use,
this software did not produce correct results and is as such not
suitable for our purposes. The demo datasets were running
correctly, which shows, that the software was installed
correctly, but it could be shown, that the software is not running
on all computers, even with the same operating system, which
certainly limits the applicability in general.