论文想要简化BA,make use of the plane constraint to reduce the complexity of BA,
BA功能:. BA works by minimizing the reprojection errors from an initial estimate of the full camera trajectory and map points using non-linear least square minimization methods such as the Levenberg-Marquardt algorithm.
https://github.com/cggos
使用RANSAC来拟合平面,
模拟1000个平面上点,以及只有平移的50个相机位位姿做实验,特征点使用高斯分布。
整个过程平面检测