TL;DR本文提出一个通过联合光度优化密集几何和摄像机参数，用于 3D 重建的框架，使其比特征点 bundle 调整更具指标重建精度，该框架可以应用于大规模的数据集，并且在面对不同的光照和相机内参时有更好的表现。
Abstract
Direct methods have shown promise on visual odometry and slam, leading to
greater accuracy and robustness over feature-based methods. However, offline
3-d reconstruction from internet images has not yet benefited