| { | |
| "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)" | |
| } | |
| } |