Adaptive Outlier Thresholding for Bundle Adjustment in Visual SLAM.
Alejandro FontánJavier CiveraMichael MilfordPublished in: ICRA (2024)
Keyphrases
- visual slam
- bundle adjustment
- structure from motion
- camera motion
- real time
- multi view
- least squares
- dynamic environments
- monocular slam
- scene structure
- point correspondences
- camera parameters
- simultaneous localization and mapping
- stereo rig
- maximum likelihood
- monocular camera
- autocalibration
- motion parameters
- camera pose
- feature tracking
- multibody
- epipolar geometry
- trifocal tensor
- kalman filter
- mobile robot
- feature vectors
- moving objects
- image sequences