• Mining Structure Fragments for Smart Bundle Adjustment 

      Carlone, Luca; Alcantarilla, Pablo Fernandez; Chiu, Han-Pang; Kira, Zsolt; Dellaert, Frank (Georgia Institute of TechnologyBritish Machine Vision Association, 2014-09)
      Bundle Adjustment (BA) can be seen as an inference process over a factor graph. From this perspective, the Schur complement trick can be interpreted as an ordering choice for elimination. The elimination of a single point ...