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vslam algorithmic basis

asked 2012-01-12 17:43:42 -0500

gazkune gravatar image

Hi all!

Regarding the vslam stack of ROS (http://www.ros.org/wiki/vslam), 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.

Thanks!

Gazkune

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answered 2012-01-13 01:09:58 -0500

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 -0500

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Last updated: Jan 13 '12