Parallel Tracking and Mapping for Controlling VTOL Airframe
Figure 3
Example of matching a newly added keyframe. From left to right: newly added keyframe, PTAMM match for a new keyframe, proposed FAST-based match. For the new method, note the overlap of the left parts of the keyframes which allows for addition of new 3D features to the scene. Using original PTAMM match would not initialize new features.
