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

<table>Input images (left column), camera trajectory (<svg height="10.325" id="M346" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 30.1 10.325" width="30.1" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.325)">
<g transform="translate(72,-63.74)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑋</tspan>
<tspan style="font-size: 12.50px; " x="10.615047" y="0">-</tspan>
<tspan style="font-size: 12.50px; " x="14.778546" y="0">𝑌</tspan>
</text>
</g>
</g>
</svg> view; central column) and map estimations (<svg height="10.325" id="M347" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 31.775 10.325" width="31.775" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.325)">
<g transform="translate(72,-63.74)">
<text transform="matrix(1,0,0,-1,-71.95,63.79)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑋</tspan>
<tspan style="font-size: 12.50px; " x="10.615047" y="0">-</tspan>
<tspan style="font-size: 12.50px; " x="14.778546" y="0">𝑍</tspan>
</text>
</g>
</g>
</svg> view; right column) for a video sequence containing about 1750 frames recorded in a laboratory environment. Frames 3, 306, 565, 777, and 1635 are displayed.</table>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: Monocular SLAM for Visual Odometry: A Full Approach to the Delayed Inverse-Depth Feature Initialization Method 