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Incremental Light Bundle Adjustment
Published on Oct 09, 20124881 Views
Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structu
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Chapter list
Incremental Light Bundle Adjustment00:00
Introduction00:13
Bundle Adjustment (BA)00:51
“Structure-Less” BA01:50
Incremental Light Bundle Adjustment (iLBA)02:46
Structure-Less BA (SLB)03:21
Light Bundle Adjustment (LBA)04:18
LBA Using Three-View Constraints05:14
Incremental LBA (iLBA)06:24
iLBA - Concept07:21
iLBA - Factor Graph Formulation (1)08:04
iLBA - Factor Graph Formulation (2)08:42
Incremental Inference in iLBA (1)09:10
Incremental Inference in iLBA (2)09:50
Incremental Inference in iLBA (3)10:28
Incremental Inference in iLBA (4)11:03
Incremental Inference in iLBA (5)11:22
Incremental Inference in iLBA (6)13:01
Results (1)14:09
Results (2)14:26
Results (3)14:49
Results (4)15:48
Extended Cubicle dataset16:13
Outdoor dataset16:32
Summary (1)17:16
Summary (2)17:41