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direct sparse odometry review

[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

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