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First, eight ping-pong textures pingpongTexID are attached to FBO, then we set the four readable textures held in LdmkTexID array which contains single landmark parameter.
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Therefore, given the same number of measurements, the number of the landmark parameters becomes smaller.
four textures, read-only not changed, are used for matched landmark parameters.
Five initial landmark parameters are calculated for all particles (x i,y i,θ i,φ i,ρ i ).
In comparison with the collinearity equations (COL), it is free from landmark parameters and ground control points (GCPs).
Second, the number of landmark parameters can be very large which can result in difficult and computationally expensive estimation.
We transfer at each iteration of the "For" loop the matched landmark parameters to textures in LdmkTexID array.
The main advantage of the proposed novel method lies that it is free from landmark parameters and results in computation and memory savings.
It is important to note that we could allocate enough textures to hold all matched landmark parameters since we are allowed to input up to 32 textures.
The method applies the three-view scale-restraint equation (Bethel 2003; Ghosh 2005), with which the measurements are processed exclusively in the image space without landmark parameters.
The methods in (Bender et al. 2013; Kelly and Sukhatme 2009; Kelly et al. 2011) implemented structure-from-motion (SfM) and contains stationary landmark parameters.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com