Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera

Figure 4

The ZMSSDs for rotation and translation of features: (a) shows the images for feature detection; (b), (c), and (d) are the ZMSSDs with rotations around -axis, -axis, and -axis; (d) illustrates the ZMSSDs with the translations along -axis and -axis.

(a)

(b)

(c)

(d)

(e)