Recovering Stable Scale in Monocular SLAM Using Object-Supplemented Bundle Adjustment.
Duncan P. FrostVictor Adrian PrisacariuDavid William MurrayPublished in: IEEE Trans. Robotics (2018)
Keyphrases
- monocular slam
- bundle adjustment
- structure from motion
- visual slam
- multi view
- single camera
- feature correspondences
- camera motion
- least squares
- camera parameters
- scene reconstruction
- point correspondences
- d objects
- scene structure
- stereo rig
- camera positions
- object tracking
- camera pose
- image sequences
- real time tracking
- real time
- viewpoint
- dynamic environments
- feature points
- maximum likelihood
- rigid objects
- d scene
- motion blur
- epipolar geometry
- motion parameters
- partial occlusion
- closed form
- camera calibration
- multiple views
- single image
- mobile robot
- moving objects
- face recognition
- computer vision