Photometric Bundle Adjustment for Vision-Based SLAM.
Hatem AlismailBrett BrowningSimon LuceyPublished in: CoRR (2016)
Keyphrases
- bundle adjustment
- monocular slam
- visual slam
- structure from motion
- point correspondences
- multi view
- camera motion
- least squares
- camera parameters
- levenberg marquardt
- scene structure
- vision system
- real time
- reprojection error
- camera tracking
- loop closure
- computer vision
- nonlinear optimization
- scene reconstruction
- maximum likelihood
- stereo rig
- mobile robot
- augmented reality
- dynamic environments
- sensor fusion
- simultaneous localization and mapping
- machine learning
- camera pose
- closed form
- mobile robotics
- motion blur
- high quality
- active learning
- feature points
- cost function