Bundle adjustment revisited for SLAM with RGBD sensors.
Kathia MelbouciSylvie Naudet-ColletteVincent Gay-BellileOmar Ait-AiderMathieu CarrierMichel DhomePublished in: MVA (2015)
Keyphrases
- bundle adjustment
- monocular slam
- visual slam
- structure from motion
- multi view
- real time
- least squares
- camera motion
- point correspondences
- time of flight
- camera parameters
- scene structure
- scene reconstruction
- reprojection error
- nonlinear optimization
- camera tracking
- single camera
- stereo rig
- loop closure
- multi sensor
- computer vision
- maximum likelihood
- simultaneous localization and mapping
- sensor fusion
- dynamic environments
- camera pose
- image sequences
- motion estimates
- three dimensional
- missing data
- data association
- indoor environments
- optical flow
- active learning
- depth information
- visual odometry
- mobile robot
- d objects
- multiple views
- particle filter