arXiv (OAI Expanded)
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MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment
Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inherent localization ambiguity of different observations. However, correspondence uncertainty is often anisotropic due to image structures such as edges
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