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cs.CV2026
MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment
Yuqing Wang, Xiaoji Niu, Yan Wang +3
Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inherent localization ambiguity o…
cs.CV2026
ViBA: Implicit Bundle Adjustment with Geometric and Temporal Consistency for Robust Visual Matching
Xiaoji Niu, Yuqing Wang, Yan Wang +2
Most existing image keypoint detection and description methods rely on datasets with accurate pose and depth annotations, limiting scalability and generalization, and often degradi…