Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method

Figure 4

An active search is used to maximize the computational speed and to reduce the mismatch likelihood in the data association process. Feature search is constrained to regions around the predicted ℎ_𝑖. The regions are defined by the innovation covariance 𝑆_𝑖 as in (2.30).