Journal of Robotics / 2016 / Article / Fig 3

Research Article

Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera

Figure 3

The procedure of initialization: (a) illustrates the tracking of features, the detected ground features are shown in (b), (c) shows all the matched features, and (d) demonstrates the initial map after epipolar searching.
(a)
(b)
(c)
(d)

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