Complexity / 2019 / Article / Alg 1

Research Article

Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Algorithm 1

Monocular SLAM initialization with initial motion hypothesis.
Require: Frame I:Initialization Frame
Frame T:Target Frame
:Camera Motion Hypothesis
Ensure: Initialized Map Points ,,
Perform feature point matching for Frame I and Frame T, resulting in matched points and .
Triangulate and using hypothesis to generate map points
Optimize , , with Init BA and update accordingly.