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Monocular SLAM with conditionally independent split mapping.

Abstract:

The recovery of structure from motion in real time over extended areas demands methods that mitigate the effects of computational complexity and arithmetical inconsistency. In this paper, we develop SCISM, an algorithm based on relative frame bundle adjustment, which splits the recovered map of 3D landmarks and keyframes poses so that the camera can continue to grow and explore a local map in real time while, at the same time, a bulk map is optimized in the background. By temporarily excludin...

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Publisher copy:
10.1109/tpami.2012.234

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
IEEE transactions on pattern analysis and machine intelligence
Volume:
35
Issue:
6
Pages:
1451-1463
Publication date:
2013-06-05
DOI:
EISSN:
1939-3539
ISSN:
0162-8828
URN:
uuid:bd770e9a-df6d-4c41-ac08-7b88f4f2e990
Source identifiers:
395953
Local pid:
pubs:395953
Language:
English

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