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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Bundle Adjustment #354

Open Toumi0812 opened 7 years ago

Toumi0812 commented 7 years ago

Hi everyone, I would like to understand how does Bundle Adjustment work ? how keypoints (2D) are converted into Map points (3D)?

Thanks

AlejandroSilvestri commented 7 years ago

Two different things.

Mapping is based on known cameras poses (actual and former). Matching features triangulates new 3D points.

Bundle adjustment is a way to improve the map by reducing errors, based on multiple views of the same 3D points.

Toumi0812 commented 7 years ago

Thanks