Robust Global Structure From Motion Pipeline With Parallax on Manifold Bundle Adjustment and Initialization.
Liyang LiuTeng ZhangBrenton LeightonLiang ZhaoShoudong HuangGamini DissanayakePublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- structure from motion
- bundle adjustment
- camera motion
- scene structure
- camera parameters
- image sequences
- reprojection error
- photometric information
- point cloud
- computer vision
- scene reconstruction
- feature tracking
- nonlinear optimization
- point correspondences
- missing data
- feature correspondences
- multi view stereo
- multi view
- camera pose
- least squares
- moving camera
- multibody
- visual slam
- moving objects
- feature space
- video sequences
- motion estimates
- epipolar geometry
- ego motion
- feature points
- optical flow
- image pairs
- three dimensional