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. | return |
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