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e186ecf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | {
"keyframe_min_rot_deg": 5.0,
"keyframe_min_trans_m": 0.02,
"max_keyframes": 200,
"pairing": "consecutive",
"time_offset_estimator": "angular-speed cross-correlation (window 0.1 s, grid 500 Hz, parabolic sub-sample refinement)",
"solvers": {
"tsai_lenz": "Tsai & Lenz 1989 (AX=XB, separable)",
"park_martin": "Park & Martin 1994 (AX=XB, Lie algebra)",
"horaud_dornaika": "Horaud & Dornaika 1995 (AX=XB, linear quaternion)",
"daniilidis": "Daniilidis 1999 (AX=XB, dual quaternion)",
"andreff": "Andreff et al. 2001 (AX=XB, Kronecker)",
"andreff_scale": "Andreff et al. 2001 with unknown translation scale",
"park_martin+lm": "Park & Martin + non-linear SE(3) refinement",
"ransac_park_martin": "RANSAC (Park & Martin minimal sets) + Huber refinement",
"shah": "Shah 2013 (AX=YB, Kronecker closed form)",
"li_kronecker": "Li et al. 2010 (AX=YB, Kronecker null space)",
"shah+lm": "Shah + joint non-linear refinement of (X, Y)"
}
} |