Object-aware bundle adjustment for correcting monocular scale drift.
Duncan P. FrostOlaf KählerDavid William MurrayPublished in: ICRA (2016)
Keyphrases
- bundle adjustment
- structure from motion
- visual slam
- image sequences
- multi view
- feature correspondences
- camera motion
- least squares
- point correspondences
- camera parameters
- piecewise planar
- scene structure
- scene reconstruction
- object tracking
- d objects
- camera positions
- nonlinear optimization
- stereo rig
- levenberg marquardt
- reprojection error
- computer vision
- moving objects
- machine learning
- camera pose
- ego motion
- ground plane
- camera calibration
- pose estimation
- maximum likelihood
- real time
- bounding box
- closed form
- feature vectors
- pairwise
- object recognition