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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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Derivation of direct BA formulation #20

Closed Richardson-Chong closed 1 year ago

Richardson-Chong commented 2 years ago

Thanks for your research. I want to ask something about the edge feature of the BA formulation. How is it derived? Can you give some tricks or ways? Thx a lot!