Incremental light bundle adjustment for structure from motion and robotics.
Vadim IndelmanRichard RobertsFrank DellaertPublished in: Robotics Auton. Syst. (2015)
Keyphrases
- bundle adjustment
- structure from motion
- computer vision
- camera parameters
- image sequences
- point cloud
- scene structure
- reprojection error
- feature tracking
- missing data
- camera motion
- scene reconstruction
- visual slam
- nonlinear optimization
- feature correspondences
- point correspondences
- epipolar constraint
- camera pose
- autocalibration
- least squares
- object recognition
- perspective camera
- focal length
- rigid motion
- multiple views
- multi view
- camera positions
- vision system
- motion estimates
- cost function