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2 votes

What's the difference between factor graph optimization and bundle adjustment?

The simplest explanation will be: In structure from motion, it estimates structure(xyz points), camera locations, camera intrinsic. In graph optimization, it only estimates camera locations. In the ...
Chanoh Park's user avatar
  • 1,577
1 vote

What's the difference between factor graph optimization and bundle adjustment?

Factor graph optimization is a more general term that can be used in different contexts. It means you define a graph with nodes (states) and edges (constraints) and find a most likely configuration. ...
Philip Z.'s user avatar
  • 111
1 vote
Accepted

Relative scale in SfM

The answer simply is, it does not really matter because you're using the norm. The scale is determined by the actual translation and rotation between two cameras (which in case of monocular odometry ...
Siddharth Jha's user avatar
1 vote
Accepted

Forward monocular stereo vision (Structure from Motion)

It turns out this can easily be done with OpenCV - just find image features (FAST etc.) in first image, track them to the second image (get a set of corresponding features between two images) and then ...
Kozuch's user avatar
  • 643

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