| Bundle adjustment |
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| 3D → 2D
mapping |
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| • | a function of
intrinsics K, extrinsics R & t |
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| • | measurement
affected by noise |
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| Log likelihood
of K,R,t given {(ui,vi)} |
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| Minimized via
nonlinear least squares regression |
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| • | called “Bundle
Adjustment” |
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| • | e.g.,
Levenberg-Marquardt |
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| – | described in
Press et al., Numerical Recipes |
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