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DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure.
Xiongfeng Peng
Zhihua Liu
Qiang Wang
Yun-Tae Kim
Published in:
IROS (2022)
Keyphrases
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bundle adjustment
loop closure
structure from motion
multi view
camera motion
least squares
point correspondences
camera parameters
maximum likelihood
image sequences
robust estimation
error accumulation
missing data
camera pose
coarse to fine
motion estimation
simultaneous localization and mapping
image features