Distributed Monocular SLAM for Indoor Map Building

<div>The network of nodes: the exploring nodes (<svg height="8.68572pt" id="M1" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 8.13765 8.68572" width="8.13765pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z" id="g113-70"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="616" vert-adv-y="616" xpluscharwidth="8.008"></glyph.data></g></svg>) are connected to a monitoring node (<svg height="8.68572pt" id="M2" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 12.9526 8.68572" width="12.9526pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M962 650H795L470 145L347 650H176L170 622C268 613 275 606 244 503L190 322C150 188 132 126 118 91C102 50 80 33 18 28L12 0H245L251 28C175 35 170 48 174 93C177 128 191 180 220 284L292 542H294C331 392 383 150 409 4H432L774 555H776L714 137C700 40 694 34 612 28L606 0H868L874 28C793 34 784 37 797 137L849 533C859 612 863 616 956 622L962 650Z" id="g113-78"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="985" vert-adv-y="985" xpluscharwidth="12.805"></glyph.data></g></svg>). Some exploring nodes are connected with each other.</div>

Journal of Sensors

Distributed Monocular SLAM for Indoor Map Building

Figure 1