Back-end optimisation

Parent: Visual SLAM Implementation Framework

Source: cometlabs

(Camera pose optimisation)

• To compensate for drift of pose estimation
• Traditionally using EKF ( filter-based )
  • simple implementation
  • therefore good for small scale estimations
• Alternative: bundle adjustment (graph optimisation)
  • joint optimisation of the camera pose and the 3D structure parameters
  • combines numerical methods and graph theory
  • increasingly favoured over filtering, due to the latter’s inherent inconsistency
  • more efficient when combined with sub-mapping