Closing Loops With a Virtual Sensor Based on Monocular SLAM

Abstract

Monocular simultaneous localization and mapping (SLAM) techniques implicitly estimate camera ego-motion while incrementally building a map of the environment. In monocular SLAM, when the number of features in the system state increases, maintaining a real-time operation becomes very difficult. However, it is easy to remove old features from the state to… (More)
DOI: 10.1109/TIM.2009.2016377

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