One Object at a Time: Accurate and Robust Structure From Motion for Robots.
Aravind BattajeOliver BrockPublished in: IROS (2022)
Keyphrases
- structure from motion
- bundle adjustment
- camera pose estimation
- camera positions
- camera parameters
- image sequences
- point cloud
- camera motion
- computer vision
- feature correspondences
- multibody
- feature tracking
- reconstruction from multiple images
- missing data
- focal length
- scene structure
- mobile robot
- d objects
- nonrigid objects
- reprojection error
- pose estimation
- camera pose
- multi view
- multiple objects
- moving objects
- key ingredient
- photometric information
- least squares
- image based localization