Efficient Bundle Adjustment for Coplanar Points and Lines.
Lipu ZhouJiacheng LiuFengguang ZhaiPan AiKefei RenYinian MaoGuoquan HuangZiyang MengMichael KaessPublished in: ICRA (2023)
Keyphrases
- bundle adjustment
- structure from motion
- reprojection error
- camera parameters
- stereo rig
- camera pose
- feature correspondences
- multi view
- least squares
- point correspondences
- camera calibration
- camera motion
- vanishing points
- focal length
- perspective camera
- trifocal tensor
- scene reconstruction
- feature points
- data points
- cost function
- nonlinear optimization
- epipolar geometry
- hough transform
- visual slam
- scene structure
- camera positions
- piecewise planar
- real time
- camera motion estimation
- levenberg marquardt
- closed form
- maximum likelihood
- feature space
- high quality