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implement Schur complement for nlls #64

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strasdat opened this issue Feb 2, 2025 · 0 comments

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enhancement sophus_opt

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strasdat commented Feb 2, 2025

A good description of efficient Schur complement implementation in this context is described in Engles et al: "Bundle Adjustment Rules": https://www.isprs.org/proceedings/xxxvi/part3/singlepapers/O_24.pdf

strasdat added sophus_opt enhancement labels

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