Decentralization and Acceleration Enables Large-Scale Bundle Adjustment.
Taosha FanJoseph OrtizMing HsiaoMaurizio MongeJing DongTodd D. MurpheyMustafa MukadamPublished in: Robotics: Science and Systems (2023)
Keyphrases
- bundle adjustment
- structure from motion
- point correspondences
- multi view
- camera parameters
- camera motion
- least squares
- reprojection error
- scene structure
- stereo rig
- nonlinear optimization
- maximum likelihood
- levenberg marquardt
- camera motion estimation
- camera pose
- scene reconstruction
- visual slam
- feature tracking
- feature correspondences
- multi view stereo
- feature points
- piecewise planar
- essential matrices
- initial solution
- camera positions
- closed form
- focal length
- multiple views
- dynamic environments
- semi supervised
- computer vision