Questions tagged [ba]

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Bundle Adjustment and error propagation

When you do bundle adjustment do states with higher accuracy have stronger certainty during the optimization? For example a state which was estimates right after starting will be closer to the true ...
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SLAM: global BA and IMU rate

My understanding is that in SLAM systems keyframes are recorded at a lower rate and used for loop closing and global BA vs every every image which is used for a sliding window optimization. What I am ...