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electives/amr/parts/04_vision/01_bootstrapping.tex
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\bi{PnP Problem} {\scriptsize Perspective $n$-Point}
Find sol. for camera pose \textit{directly}
\bi{RANSAC} {\scriptsize RANdom SAmpling Consensus} for find. outliers \& correct
\bi{RANSAC} {\scriptsize RANdom SAmpling Consensus} Model estimation, for find. outliers \& correct.
Also great for finding an initial guess for pose. (due to robustness)
For $N$ iteration: sample min set, fit model, count inliers (reprojection error $<$ threshold $t$), keep best, optionally refit on inliers.
More outliers $\Rightarrow$ more iterations.
\bi{Stereo Triang.} Given two rays (known poses for points in 2D).
Find good point in 3D. Fast sol: \bi{Midpoint Method}: