Photometric Bundle Adjustment for Vision-Based SLAM

5 Aug 2016Hatem AlismailBrett BrowningSimon Lucey

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. In contrast to traditional bundle adjustment (BA) where the optimal parameters are determined by minimizing the reprojection error using tracked features, the proposed algorithm relies on maximizing the photometric consistency and estimates the correspondences implicitly... (read more)

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