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Robust RGBD Visual Odometry Using Windowed Direct Bundle Adjustment and Slanted Support Plane.
Hang Luo
Christian Pape
Eduard Reithmeier
Published in:
IEEE Robotics Autom. Lett. (2022)
Keyphrases
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bundle adjustment
structure from motion
visual odometry
camera pose
camera parameters
point correspondences
camera motion
missing data
multi view
ground plane
autonomous navigation
computer vision
least squares
three dimensional
camera calibration
point cloud
robust estimation
object recognition