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DSO - Schur Complement

Direct sparse odometry Foreknowledge about Schur complement can be found here Initialization Preparation As introduced here, we have \[\mathbf{J}=\begin{bmatrix} \frac{\partial r_{1}}{...

Posted by Tong on April 17, 2020

DSO - RawResidualJacobian

Direct sparse odometry Variable used in RawResidualJacobian Variable used here Meaning resF Jpdxi \(\frac...

Posted by Tong on April 17, 2020

DSO - Jacobians

Direct sparse odometry Foreknowledge about Lie groups and Lie algebra can be found here Photometric Error \[E_{\mathbf{p} j}:=\sum_{\mathbf{p} \in \mathcal{N}_{\mathrm{p}}} w_{\mathbf{p}...

Posted by Tong on April 17, 2020

DSO - EnergyFunctional

Direct sparse odometry Variable Type Size Formula Description nFrames int Number of frames ...

Posted by Tong on April 17, 2020

DSO - EFResidual

Direct sparse odometry Variable Variable Formula Description JpJdF \(\begin{bmatrix} (\frac{\partial r_{ji}}{\partial \boldsymbol{\xi}_{...

Posted by Tong on April 17, 2020

DSO - CoraseInitializer

Direct sparse odometry Variable used in CoarseInitializer Variable used here Meaning residual \(I_{j}\left[\mathbf{p}_{j}\right]-e^{a_{ji...

Posted by Tong on April 17, 2020

DSO - AccumulatorApprox

Direct sparse odometry Abstract This is a class to compute the H and b in the Gauss-Newton optimization. Related variables are Intrinsic parameters (\(f_x, f_y, c_x, c_y\)) ...

Posted by Tong on April 17, 2020

DSO - AccumulatedTopHessianSSE

Direct sparse odometry Variable Function void addPoint() template <int mode> void addPoint(EFPoint* const p, const EnergyFunctional* const ef, const int tid = 0); Th...

Posted by Tong on April 17, 2020

G2O - Nitty Gritty

Github Because g2o updates pose / rotation using left multiplication under Lie groups, we need to use the model of left perturbations to calculate related Jacobians. Examples can be found here.

Posted by Tong on April 10, 2020

[Paper] Multi-View Stereo: A Tutorial

Abstract 1 This tutorial presents a hands-on view of the field of multi-view stereo with a focus on practical algorithms. Multi-view stereo algorithms are able to construct highly detailed 3D mode...

Posted by Tong on April 4, 2020