ParallaxBA: bundle adjustment using parallax angle feature parametrization
نویسندگان
چکیده
منابع مشابه
ParallaxBA: bundle adjustment using parallax angle feature parametrization
The main contribution of this paper is a novel feature parametrization based on parallax angles for bundle adjustment (BA) in structure and motion estimation from monocular images. It is demonstrated that under certain conditions, describing feature locations using their Euclidean XYZ coordinates or using inverse depth in BA leads to ill-conditioned normal equations as well as objective functio...
متن کاملDocument for ParallaxBA C/C++ Source Code
This document provides some details about how to use the C/C++ source code of ParallaxBA algorithm, bundle adjustment using parallax angle parametrization for monocular SLAM or structure from motion problem. The code is written by Liang Zhao ([email protected]), Shoudong Huang ([email protected]), Yanbiao Sun ([email protected]) and Gamini.Dissanayake ([email protected]...
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We present an improved bundle adjustment method based on the online learned appearance subspaces of 3D points. Our method incorporates the additional information from the learned appearance models into bundle adjustment. Through the online learning of the appearance models, we are able to include more plausible observations of 2D features across diverse viewpoints. Bundle adjustment can benefit...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2015
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364914551583