MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups.
Yusen XieZhenmin HuangKai ChenLei ZhuJun MaPublished in: CoRR (2024)
Keyphrases
- structure from motion
- lightweight
- image based localization
- camera parameters
- bundle adjustment
- pinhole camera
- feature tracking
- camera motion
- planar scenes
- computer vision
- focal length
- omnidirectional images
- point cloud
- perspective camera
- missing data
- image sequences
- orthographic projection
- ground plane
- scene structure
- camera pose
- motion estimates
- relative pose
- camera positions
- scene depth
- autocalibration
- vision system
- multibody
- point features
- rigid motion
- moving camera