Double window optimisation for constant time visual SLAM
ICCV, pp. 2352-2359, 2011.
We present a novel and general optimisation framework for visual SLAM, which scales for both local, highly accurate reconstruction and large-scale motion with long loop closures. We take a two-level approach that combines accurate pose-point constraints in the primary region of interest with a stabilising periphery of pose-pose soft const...More
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