ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
Date: 2017
Journal: T-RO
3. ORB SLAM2
c. Bundle Adjustment with Monocular and Stereo Constraints
Motion anly BA
Optimize camera orientation and position, minimizing reprojection error between matched 3D points in world coordinates and keypoints
Local BA
Optimize set of covisible keyframes and all points seen in keyframes
All the other keyframes not in covisible frames, contribute to the cost function, while no other optimization
Full BA
Specific case of local BA, where all the keyframes and points in the map are optimized
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