Incremental light bundle adjustment for robotics navigation.
Vadim IndelmanAndrew MelimFrank DellaertPublished in: IROS (2013)
Keyphrases
- bundle adjustment
- structure from motion
- multi view
- autonomous navigation
- point correspondences
- camera parameters
- least squares
- camera motion
- levenberg marquardt
- computer vision
- scene structure
- reprojection error
- feature correspondences
- nonlinear optimization
- visual slam
- maximum likelihood
- scene reconstruction
- stereo rig
- camera calibration
- piecewise planar
- initial solution
- camera motion estimation
- essential matrices
- robot navigation
- image sequences
- multi view stereo
- mobile robotics
- depth map
- camera positions
- motion estimation
- mobile robot
- cost function
- feature vectors
- viewpoint
- feature space
- three dimensional
- machine learning
- neural network