Improving the Performance of Local Bundle Adjustment for Visual-Inertial SLAM with Efficient Use of GPU Resources.
Shishir GopinathKarthik DantuSteven Y. KoPublished in: ICRA (2023)
Keyphrases
- range images
- bundle adjustment
- multi view
- visual slam
- structure from motion
- monocular slam
- least squares
- camera parameters
- real time
- point correspondences
- maximum likelihood
- levenberg marquardt
- scene structure
- camera motion
- camera pose
- stereo rig
- nonlinear optimization
- mobile robot
- reprojection error
- simultaneous localization and mapping
- camera tracking
- feature correspondences
- dynamic environments
- camera motion estimation