Computer Vision
Visual SLAM – Bundle Adjustment
1. FoundationIn feature point-based visual SLAM, we generally optimize the camera pose and map point location by minimizing the reprojection error. The following is an introduction to this issue.1.1 Map parameteriseTwo method: 3-d vector $X=\left[ x,y,z \right]^{T}$ , or inverse depth parametrization. Here we use 3-d vector for simplicity.1.2 Camera Read more…