Backtracking Regression Forests for Accurate Camera Relocalization
這種方法其實類似 deep learning，只不過是以森林的方式進行train，森林是由一系列的決策樹組成。 每個決策樹中的每個節點都是待訓練的參數： 決策樹的目的是： ，即輸入是image，depth（如果有的話），2d pixel位置，輸出是3d點的位置x y z + 最終的feature。因此決策樹可以認爲是一個從2d到3d的映射，這樣的話就導致 每個場景就需要訓練一個決策樹模型了（也
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