CSS-BA: Gate-Guided Column Space Search for Bundle Adjustment

arXiv:2607.15652v1 Announce Type: new Abstract: Bundle adjustment (BA) remains a critical refinement module for image-based 3D reconstruction and continues to improve geometric accuracy even in learning-based pipelines. However, in low-parallax and near-rotational regimes, classical Schur-based Levenberg--Marquardt (LM) often becomes ill-conditioned and yields unreliable pose and calibration estimates. We propose Gate-Guided CSS-BA, a solver-side modification of Schur-LM that preserves the class...