Search results for "Reprojection error"
showing 2 items of 2 documents
SAMSLAM: Simulated Annealing Monocular SLAM
2013
This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses.
Fast adaptive frame preprocessing for 3D reconstruction
2015
Abstract: This paper presents a new online preprocessing strategy to detect and discard ongoing bad frames in video sequences. These include frames where an accurate localization between corresponding points is difficult, such as for blurred frames, or which do not provide relevant information with respect to the previous frames in terms of texture, image contrast and non-flat areas. Unlike keyframe selectors and deblurring methods, the proposed approach is a fast preprocessing working on a simple gradient statistic, that does not require to compute complex time-consuming image processing, such as the computation of image feature keypoints, previous poses and 3D structure, or to know a prio…