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Photometric Bundle Adjustment for Vision-Based SLAM
We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences.
Direct Visual Odometry using Bit-Planes
Our approach utilizes an efficient binary descriptor, which we call Bit-Planes, and show how it can be used in the gradient-based optimization required by direct methods.
Bit-Planes: Dense Subpixel Alignment of Binary Descriptors
Binary descriptors have been instrumental in the recent evolution of computationally efficient sparse image alignment algorithms.
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