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vslam algorithmic basis

asked 2012-01-12 17:43:42 -0600

gazkune gravatar image

Hi all!

Regarding the vslam stack of ROS (, does anybody know what algorithms it uses for feature extraction, matching and so on? Is there any paper(s) I can read to understand how it works? I couldn't find anything related to these issues in the documentation of the stack.



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answered 2012-01-13 01:09:58 -0600

DimitriProsser gravatar image

I know that it uses SBA (Sparse Bundle Adjustment).

It uses g2o to optimize BA as much as possible.

Here is a great introduction to vslam.

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Asked: 2012-01-12 17:43:42 -0600

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Last updated: Jan 13 '12