We present a generalized subgraph preconditioning (GSP) technique to solve large-scale bundle adjustment problems efficiently. In contrast with previous work which uses either di...
We present a novel and general optimisation framework for visual SLAM, which scales for both local, highly accurate reconstruction and large-scale motion with long loop closures. ...
Hauke Strasdat, Andrew J. Davison, J. M. M. Montie...