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direct sparse odometry explained

[SLAM][En] Direct Sparse Odometry (DSO) Paper Review Part 2 4. Keyframes 4.1. Inverse Depth Update To be added 4.2. Immature Point Activation To be added 4.3. Sliding Window Optimization 4.3.1. Error Function Formulation If a specific frame is determined as a keyframe, the error function must be updated between keyframes within the sliding window and a new keyframe. At this time, Local Bundle Adjustment (LBA) is performed to optimize not only the keyfram.. 더보기
[SLAM][En] Direct Sparse Odometry (DSO) Paper Review Part 1 In this post, we review the DSO paper, which is famous for its direct method-based VO algorithm. While analyzing the DSO code, I found out that there were a lot of details omitted in the thesis, and I wrote a summary that included formula derivation and code review by referring to other people's already well-organized data. 1. Initialization 1.1 Calibration Since the direct method estimates the .. 더보기

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