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Research Article

Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Figure 10

Initialization results comparison (green: success; red: failed), (a) plain (ours), (b) plain (ORB-SLAM2), (c) plain (DSO), (d) mountainous (ours), (e) mountainous (ORB-SLAM2), and (f) mountainous (DSO).
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(b)
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(d)
(e)
(f)

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