A hybrid SLAM pipeline using co-visibility-based online partitioning, local bundle adjustment, and single rotation averaging reports lower trajectory RMSE than conventional baselines on TUM and KITTI.
Levenberg-Marquardt methods with strong local convergence properties for solving nonlinear equations with convex constraints,
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Hybrid Camera Pose Estimation with Online Partitioning for SLAM
A hybrid SLAM pipeline using co-visibility-based online partitioning, local bundle adjustment, and single rotation averaging reports lower trajectory RMSE than conventional baselines on TUM and KITTI.