Monocular Vision SLAM for Indoor Aerial Vehicles

Algorithm 1

Disjoint cluster identification from heat MAP 𝑀.

(1) Start from level 𝐿(0)=0 and sequence 𝑚=0

(2)  Find  𝑑=min(ℎ_𝑎−ℎ_𝑏) in 𝑀 where ℎ_𝑎≠ℎ_𝑏

(3)  𝑚=𝑚+1, Ψ^′′′(𝑘)=merge([ℎ_𝑎,ℎ_𝑏]), 𝐿(𝑚)=𝑑

(4)  Delete from  𝑀: rows and columns corresponding to Ψ^′′′(𝑘)

(5)  Add to  𝑀: a row and a column representing Ψ^′′′(𝑘)

(6)  if (∀ℎ_𝑖∈Ψ^′′′(𝑘)), stop

(7)  else, go to (2)