| Intrinsic/extrinsic
calibration |
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| • | Advantages: |
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| – | can solve for
more than one camera pose at a time |
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| – | potentially
fewer degrees of freedom |
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| • | Disadvantages: |
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| – | more complex
update rules |
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| – | need a good
initialization (recover K [R | t] from M) |
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| 28 |