(1) locally, difficulty in obtaining reliable inter-image correlation and matching under small partial overlap,
(2) globally, large search space to compose global solution from unreliable local alignments, and
(3) the efficiency requirement for online SLAM computation.
An Automatic Platform-aware Feature Matching Pipeline for Real-time 3D Reconstruction.
S. Zheng, Y. Wang, B. Li, and X. Li
Technical Report 2020