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ucla-vision / xivo

X Inertial-aided Visual Odometry
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One-Point RANSAC #37

Closed stephanietsuei closed 2 years ago

stephanietsuei commented 2 years ago

Finished implementation of One-Pt RANSAC. Performance on the TUM VI benchmark is similar to Mahalanobis gating.

Paper describing One-Pt RANSAC is here: https://rpg.ifi.uzh.ch/docs/IJCV11_scaramuzza.pdf