Sparser Relative Bundle Adjustment (SRBA): Constant-time maintenance and local optimization of arbitrarily large maps.
José-Luis BlancoJavier González JiménezJuan-Antonio Fernández-MadrigalPublished in: ICRA (2013)
Keyphrases
- bundle adjustment
- structure from motion
- nonlinear optimization
- multi view
- least squares
- point correspondences
- camera motion
- levenberg marquardt
- camera parameters
- optimization algorithm
- stereo rig
- maximum likelihood
- reprojection error
- scene structure
- scene reconstruction
- optimization method
- piecewise planar
- camera motion estimation
- camera positions
- feature correspondences
- camera pose
- global optimization
- autocalibration
- high quality
- image sequences
- closed form solutions
- feature tracking
- global search
- initial solution
- optimization problems
- semi supervised
- active learning
- feature extraction