Journal of Robotics / 2016 / Article / Fig 4

Research Article

Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera

Figure 4

The ZMSSDs for rotation and translation of features: (a) shows the images for feature detection; (b), (c), and (d) are the ZMSSDs with rotations around -axis, -axis, and -axis; (d) illustrates the ZMSSDs with the translations along -axis and -axis.
(a)
(b)
(c)
(d)
(e)

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