Connected Multi-Source Bundle Adjustment for Air-Ground Photogrammetric Reconstruction with UAV RGB and UGV RGB-D Imagery

This package contains the core solver implementation and prepared sparse numerical datasets required to reproduce all algorithmic results reported in the manuscript. It supports full reproduction of the following experimental components: UAV-only bundle adjustment, UGV-only bundle adjustment, UGV RGB-D bundle adjustment, disconnected multi-source bundle adjustment, connected multi-source bundle adjustment, no-scale-initialization rerun on the unscaled real-data sparse dataset, and toy-model and controlled Sim3D experiments via the C++ experimental executable. All solver outputs are generated on demand by running the corresponding commands.