Bundle adjustment based on image capture intervals

A system for determining at least one of camera parameters and three dimensional locations of features in images from a plurality of images of an area, comprising:

• at least one processor;
• a camera pose adjustment estimator configured to be executed by the processor and further configured to determine a correlation between a pose of a first camera and a pose of a second camera, wherein a strength of the correlation is based at least upon a time difference between respective image captures by the first camera and the second camera, and wherein positions and poses of the first camera and the second camera are substantially rigid relative to each other;
• a constraint generator configured to be executed by the processor and further configured to generate one or more constraints incorporating the correlation;
• and
• a bundle adjuster configured to be executed by the processor and further configured to determine at least one of camera parameters and three dimensional locations of features using a plurality of constraints including the generated one or more constraints.

A non-transitory computer readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to perform a method of determining camera parameters and three dimensional locations of features from a plurality of images of an area, wherein the method comprises:

• identifying a correlation tying a first camera pose and a second camera pose;
• determining a strength of the correlation based at least upon a time difference between an image captured by a camera at the first pose at a first time and an image captured by a camera at a second pose at a second time, the correlation defined so that the strength decreases as the time difference increases;
• generating one or more constraints incorporating the correlation as scaled by the determined strength;
• and
• determining at least one of camera parameters and three dimensional locations of features using a plurality of constraints including the generated one or more constraints.