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chiaki530 / leapvo

[CVPR'24] LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry
https://chiaki530.github.io/projects/leapvo
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Bundle Adjustment #10

Open Davidyao99 opened 1 month ago

Davidyao99 commented 1 month ago

I was wondering how did you perform your bundle adjustment here main/backend/ba.py. Do you have some resource that I refer to to understand the algorithm, or could you provide some guidance?

Additionally, if I want to also include the intrinsics into the optimization, how should I make the changes?

Thank you! Great work!!

ljjTYJR commented 1 day ago

https://arxiv.org/abs/2108.10869 https://homes.cs.washington.edu/~sagarwal/bal.pdf https://openaccess.thecvf.com/content/ICCV2023/html/Hagemann_Deep_Geometry-Aware_Camera_Self-Calibration_from_Video_ICCV_2023_paper.html