Questions tagged [ba]
The ba tag has no usage guidance.
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How does BA work for 3d lidar? Particularly VLP16/VLP32 aren't dense enough
How do you run bundle adjustment on a sequence of 3d lidar recordings if the scan is relatively sparse? I read something about attempting to match up planes/edges but there wasn't much detail given. I ...
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How does NDT work with global bundle adjustment?
I was reading about pointcloud matching and SLAM.
NDT is one approach to scan matching, what I am confused on is how you do global bundle adjustment using NDT occupancy grid.
https://www.researchgate....
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How does marginalization work in fixed lag smoothing?
I have read in SLAM papers talk about marginalization. I am confused about how this process works, why you do it and how it differs from global smoothing.
In particular if you're interested in ...
- 339
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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 ...
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