Good features to track for visual SLAM

@article{Zhang2015GoodFT,
  title={Good features to track for visual SLAM},
  author={Guangcong Zhang and Patricio A. Vela},
  journal={2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2015},
  pages={1373-1382}
}
Not all measured features in SLAM/SfM contribute to accurate localization during the estimation process, thus it is sensible to utilize only those that do. This paper describes a method for selecting a subset of features that are of high utility for localization in the SLAM/SfM estimation process. It is derived by examining the observability of SLAM and, being complimentary to the estimation process, it easily integrates into existing SLAM systems. The measure of estimation utility is… CONTINUE READING
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