[AMR] Finished summary for vision part

electives/others/amr/parts/04_vision/01_bootstrapping.tex

@@ -9,14 +9,12 @@ Find sol. for camera pose \textit{directly}
 Find good point in 3D. Fast sol: \bi{Midpoint Method}:
 
 \bi{1} Find p. along ray w/ min. dist (Lin. Least Squares)
-\rmvspace[0.7]
 \[
     \vec{\lambda}\! =\! [\lambda_1 \; \lambda_2]^\top\! = \! \argmin{} ||({_W}\vec{t}_{C_2} + \lambda_2 {_W}\vec{e}_2) - ({_W}\vec{t}_{C_1} + \lambda_1 {_W}\vec{e}_2)||^2
 \]
 
-\rmvspace[1]
+\rmvspace
 \bi{2} Solve normal equation $\mat{A} \vec{\lambda} = \vec{b}$ with $\vec{q} = -{_W}\vec{e}^\top_1 {_W}\vec{e}_2$:
-\rmvspace[0.7]
 \[
     \mat{A} = \begin{bmatrix}
         1       & \vec{q} \\
@@ -29,5 +27,4 @@ Find good point in 3D. Fast sol: \bi{Midpoint Method}:
     \end{bmatrix}
 \]
 
-\rmvspace[0.7]
 \bi{3} Pick midp. ${_W}\vec{t}_P \! = \! 0.5(\tau_1 \! + \! \tau_2)$; $\tau_n \! = \! {_W}\vec{t}_{C_n} + \lambda_n{_W}\vec{e}_n)$