Scale Jump-Aware Pose Graph Relaxation for Monocular SLAM with Re-Initializations
Runze Yuan,Ran Cheng,Lige Liu,Tao Sun,Laurent Kneipl,Runze Yuan,Ran Cheng,Lige Liu,Tao Sun,Laurent Kneipl
Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise relative transformation constraints. The latter may be given by incremental motion estimation or global place recognition. While the latter case enables loop closures and drift compensation, care has to be taken in the mono...
