116. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
Jacobian of Camera Intrinsics ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ถํดํ ์ ์๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
117. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
Jacobian of Camera Intrinsics ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ถํดํ ์ ์๋ค.
์ด ๋, ์ด๋ฏ๋ก ๊ฐ๊ฒฐํ๊ฒ residual ํญ์ผ๋ก ํํํ๋ฉด ๋ค์๊ณผ ๊ฐ๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
118. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
Jacobian of Camera Intrinsics ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ถํดํ ์ ์๋ค.
์ด ๋, ์ด๋ฏ๋ก ๊ฐ๊ฒฐํ๊ฒ residual ํญ์ผ๋ก ํํํ๋ฉด ๋ค์๊ณผ ๊ฐ๋ค.
๋ Initialization ์น์ ์์ ๋ค์๊ณผ ๊ฐ์ด ์ด๋ฏธ ์ ๋ํ์๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
119. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
Jacobian of Camera Intrinsics ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ถํดํ ์ ์๋ค.
์ด ๋, ์ด๋ฏ๋ก ๊ฐ๊ฒฐํ๊ฒ residual ํญ์ผ๋ก ํํํ๋ฉด ๋ค์๊ณผ ๊ฐ๋ค.
๊ทธ๋ฆฌ๊ณ ๋ ๋ค์๊ณผ ๊ฐ์ด ์ ๋ํ ์ ์๋ค.
๋ Initialization ์น์ ์์ ๋ค์๊ณผ ๊ฐ์ด ์ด๋ฏธ ์ ๋ํ์๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
120. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
ํ์ฌ๊น์ง ์ ๋๋ ๋ ๋ค์๊ณผ ๊ฐ๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
121. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
ํ์ฌ๊น์ง ์ ๋๋ ๋ ๋ค์๊ณผ ๊ฐ๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
๋ค์ ์์๋ก ๊ฐ์ ๊ตฌํด์ผ ํ๋ค.
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
122. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
ํ์ฌ๊น์ง ์ ๋๋ ๋ ๋ค์๊ณผ ๊ฐ๋ค.
map point
keyframe
edge of host keyframe
edge of target keyframe
์ฐ์ ๋ฅผ ์ ๊ฐํ๋ฉด ๋ค์๊ณผ ๊ฐ๋ค.
๋ค์ ์์๋ก ๊ฐ์ ๊ตฌํด์ผ ํ๋ค.
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
123. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
map point
keyframe
edge of host keyframe
edge of target keyframe
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
124. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
map point
keyframe
edge of host keyframe
edge of target keyframe
๋ฐ๋ผ์ ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ํ๋ผ ์ ์๋ค.
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
125. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
126. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
์ ์์ ์ฌ์ฉํ์ฌ ๋ฅผ ๊ตฌํด๋ณด๋ฉด ๋ค์๊ณผ ๊ฐ๋ค.
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
127. 4.3.2. Keyframes โ Sliding Window Optimization โ Jacobian Derivation of Camera Intrinsics
์ต์ข ์ ์ผ๋ก ๋ ๋ค์๊ณผ ๊ฐ์ด ๋ํ๋ผ ์ ์๋ค.
More detail: https://blog.csdn.net/xxxlinttp/article/details/90640350
camera intrinsics(4)