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From Intrinsic Optimization to Iterated Extended Kalman Filtering on Lie Groups  Fig. 4: Computational time and Residual errors for dif- ferent number of global motions (NV). The number of relative motions is fixed to N + n (in our experiments  n = 30).

Figure 4 From Intrinsic Optimization to Iterated Extended Kalman Filtering on Lie Groups Fig. 4: Computational time and Residual errors for dif- ferent number of global motions (NV). The number of relative motions is fixed to N + n (in our experiments n = 30).