Inverse Depth Parametrization for Monocular SLAM

@article{Civera2008InverseDP,
  title={Inverse Depth Parametrization for Monocular SLAM},
  author={Javier Civera and Andrew J. Davison and J. M. M. Montiel},
  journal={IEEE Transactions on Robotics},
  year={2008},
  volume={24},
  pages={932-945}
}
We present a new parametrization for point features within monocular simultaneous localization and mapping (SLAM) that permits efficient and accurate representation of uncertainty during undelayed initialization and beyond, all within the standard extended Kalman filter (EKF). The key concept is direct parametrization of the inverse depth of features relative to the camera locations from which they were first viewed, which produces measurement equations with a high degree of linearity… CONTINUE READING
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