A hybrid bundle adjustment/pose-graph approach to VSLAM/GPS fusion for low-capacity platforms.
Achkan SalehiVincent Gay-BellileSteve BourgeoisFrédéric ChaussePublished in: Intelligent Vehicles Symposium (2017)
Keyphrases
- bundle adjustment
- structure from motion
- camera pose
- multi view
- point correspondences
- camera parameters
- least squares
- reprojection error
- scene structure
- camera motion
- scene reconstruction
- nonlinear optimization
- levenberg marquardt
- loop closure
- missing data
- maximum likelihood
- stereo rig
- feature correspondences
- piecewise planar
- d objects
- image sequences
- visual slam
- computer vision
- initial solution
- camera motion estimation
- urban environments
- position and orientation
- depth map
- pose estimation