| Correspondences |
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| Can refine
feature matching after a structure |
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| and motion
estimate has been produced |
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| • | decide which ones
obey the epipolar |
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| geometry |
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| • | decide which ones
are geometrically |
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| consistent |
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| • | (optional)
iterate between correspondences |
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| and SfM estimates
using MCMC |
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| [Dellaert et al., Machine
Learning 2003] |
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