474 citations · 1.8k across the 20 of their papers we have counts for
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cs.CV2021★ 25 cited
Square Root Marginalization for Sliding-Window Bundle Adjustment
Nikolaus Demmel, David Schubert, Christiane Sommer +2
In this paper we propose a novel square root sliding-window bundle adjustment suitable for real-time odometry applications. The square root formulation pervades three major aspects…
cs.CV2021★ 29 cited
Square Root Bundle Adjustment for Large-Scale Reconstruction
Nikolaus Demmel, Christiane Sommer, Daniel Cremers +1
We propose a new formulation for the bundle adjustment problem which relies on nullspace marginalization of landmark variables by QR decomposition. Our approach, which we call squa…