1-point RANSAC for EKF-based Structure from Motion.
Javier CiveraOscar G. GrasaAndrew J. DavisonJ. M. M. MontielPublished in: IROS (2009)
Keyphrases
- structure from motion
- relative pose
- bundle adjustment
- camera pose
- epipolar constraint
- camera parameters
- image sequences
- feature tracking
- point cloud
- missing data
- computer vision
- scene structure
- point correspondences
- reconstruction from multiple images
- pinhole camera
- feature points
- camera motion
- robust estimation
- reprojection error
- scene reconstruction
- fundamental matrix
- motion estimates
- camera positions
- least squares
- multi view
- extended kalman filter
- epipolar geometry
- camera calibration
- kalman filter
- particle filtering
- kalman filtering
- focal length