Inverse Depth Parametrization for Monocular SLAM

  title={Inverse Depth Parametrization for Monocular SLAM},
  author={Javier Civera and Andrew J. Davison and J. M. M. Montiel},
  journal={IEEE Transactions on Robotics},
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
Highly Influential
This paper has highly influenced 49 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 642 citations. REVIEW CITATIONS

14 Figures & Tables



Citations per Year

642 Citations

Semantic Scholar estimates that this publication has 642 citations based on the available data.

See our FAQ for additional information.