19 DAILY CVPR Sunday Another challenge was the calibration: “For each data point from the LIDAR, we need to know to what pixel does it correspond to,” Mehdi explains. “We had to come up with our own algorithm, yet inspired from the community, where we had to transform the LIDAR points to camera coordinates first. Second, we had to convert to spherical coordinates, then project to equi-rectangular coordinates for the cameras. And then we still had so many errors that we minimized the projection using BFGS optimization.” MASt3R-SLAM
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