光束法平差简史与概要

光束法平差是当前摄影测量和计算机视觉及机器人领域通用的一种利用影像进行定位的理论与方法。自诞生以来，通过多个学科学者的共同努力，其在理论上和方法上都有了全面和完备的发展，也备受多个交叉学科学者的关注。首先试图从历史发展的角度，介绍光束法平差的起源、模型的建立及其扩展，然后讨论其处理系统误差和粗差的方法及其解算方法。时间跨度大致涵盖光束法平差发展的60 a，涉及的贡献主要来自摄影测量，但也包括了大地测量、计算机视觉和机器人领域的代表性工作。最后指出当前光束法平差的几个发展动态。文末附有光束法平差涉及的几个相关人物的简介。

A Brief History and Essentials of Bundle Adjustment

Bundle adjustment is a generic theory and method for image-based positioning in photogrammetry, computer vision and robotics. Since its inception in the 1950's, the joint efforts from various disciplines have led bundle adjustment to a rather comprehensive and complete development in both theory and method. This paper attempts to introduce the origin of the bundle adjustment, the establishment and extension of the mathematical models from the perspective of historical development. We then discuss its methods of dealing with systematic errors and gross errors. Numerical solution techniques are presented from the view point of mathematic optimization. The time span for the work described in this paper covers roughly 60 years since the inception of bundle adjustment. The contributions cited in this paper are mainly from photogrammetry, but also include representative work in geodesy, computer vision, and robotics. This paper concludes with several recent developments in bundle adjustments. At the end, this article is accompanied by a brief biography of several key scho-lars in the history of bundle adjustment.