Double window optimisation for constant time visual SLAM

ICCV, pp. 2352-2359, 2011.

Cited by: 302|Bibtex|Views126|DOI:https://doi.org/10.1109/ICCV.2011.6126517
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Other Links: dl.acm.org|dblp.uni-trier.de|academic.microsoft.com

Abstract:

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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