Research Article
Passive Initialization Method Based on Motion Characteristics for Monocular SLAM
Algorithm 2
Error reduction with subsequent BA.
Require: Frame I: Initialization Frame | Frame n: Subsequent Frame | : Feature points of Frame I | : Feature points of previous frames corresponding to | : Optimized rotation matrices of previous frames | : Optimized translation vectors of previous frames | : Initialized Map Points | Ensure: Map points and Initialization Evaluator . | Extract feature points of Frame n and match with to obtain matched feature points . | Optimize the Reprojection Error with Subsequent BA and thereby obtain optimized , , . | Calculate current evaluator value . | ifthen | Stop iteration, and return , , as initialization results. | | ifis too big then | Stop iteration, and report failure of initialization. | |
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