Author : Lhuillier
Year : 2009
- Local BA = sliding window BA
- required properties: uncertainty propagation + RT performance
- covariance approx by inverse of hessian (cf Multiple View Geometry) but doesn't exhibit propagation
- Work on measurement noise computation Uncertainty ellipsoids calculations for complex 3d reconstructions By Lhuillier
- Proposes four methods with either strong hypothesis (independance between state and measurements) or weak hypothesis
- Shape of uncertainty ellipsoid highly depends on gauge choice
- Unreadable equations