A pose-only geometric constraint implicitly represents 3D points via two base observations and poses, enabling faster multi-camera pose adjustment that outperforms standard bundle adjustment in efficiency while preserving accuracy.
Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras
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A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment
A pose-only geometric constraint implicitly represents 3D points via two base observations and poses, enabling faster multi-camera pose adjustment that outperforms standard bundle adjustment in efficiency while preserving accuracy.