Extending parallax parameterised bundle adjustment to stereo
- Publication Type:
- Conference Proceeding
- Australasian Conference on Robotics and Automation, ACRA, 2017, 2017-December pp. 194 - 202
- Issue Date:
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The main contribution of this paper is the extension of the ParllaxBA algorithm proposed by [Zhao et al., 2015] into stereo. Simulated and experimental datasets are used to evaluate Cartesian and parallax angle parameterisation for stereo bundle adjustment. It is demonstrated that, like monocular ParallaxBA, under normal conditions the two algorithms perform similarly. However, when the parallax angle of landmarks is low, parallax parameterisation can converge to a lower cost and in less time than the traditional Cartesian parameterisation.
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