... and position constraints of planar markers; and The common-view map is used to manage the key frames, and graph optimization is used to perform local bundle adjustment (BA) on the key frames and planar marker poses. This approach helps prevent the accumulation of registration errors. 22 10 2024...

... radius of the indirect method, the dynamic pixels are rejected. Subsequently, the camera pose is optimized by minimizing the reprojection errors. The frames with little dynamic information are selected to create keyframes. Finally, the local bundle adjustment is performed to refine the poses...