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因为SLAM在前后几帧图像进行特征匹配后,计算相机的位姿变化时都是假定同一个像素对应的世界坐标系下的点时不移动的。但如果实际是会有移动的要怎么处理。
The text was updated successfully, but these errors were encountered:
一般来说,移动物体占图像少数部分,通常的做法是根据物体上的重投影误差大小,当作outlier去掉。
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因为SLAM在前后几帧图像进行特征匹配后,计算相机的位姿变化时都是假定同一个像素对应的世界坐标系下的点时不移动的。但如果实际是会有移动的要怎么处理。
The text was updated successfully, but these errors were encountered: