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Levenberg-Marquardt method
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A detailed description contained in the file on Levenberg-Marquardt algorithm, and a simple implementation on LM Algorithm
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PTAM source
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Parallel Tracking and Mapping (Parallel Tracking and Mapping) referred PTAM, proposed in 2007 by the University of Oxford Active Vision Lab Georg Klein and David Murray. PTAM navigation in the machine, the machine exploration, human-computer interaction, 3D reconstruction and others have applied. Before this machine has been attempted to explore with slam (simultaneous localization and mapping) algorithm. PTAM system mainly through a dual-core processor will be tracking and mapping in two separate threads to achieve. Tracking the thread used to the camera's position and orientation in real-time tracking, mapping of threads used to draw the feature points obtained from the observation of video frames to form a three-dimensional map, mainly to provide a data source for our track threads, which are not required for real-time operation. Application of two separate threads, making some optimization techniques in computational complexity without requiring real-time situation to run, providin
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