Structure from motion

Will come back to this post eventually...

First, we'll give overview of pipeline. We'll focus only on the end of the pipeline today. However, we'll be working backwards through the pipeline to speed each part up. So will have many more details to come!

  • Feature descriptors
  • Help us get relative post from two images
  • Called 'visual odometry'
  • However, can have lots of drift, or may have problems matching
  • In comes bundle adjustment
  • But naive bundle adjustment is slow
  • Pose graph?

Things to try

  • Cutting frames to focus on certain parts
  • Capture better data