Journal of Sensors / 2017 / Article / Fig 4

Research Article

Distributed Monocular SLAM for Indoor Map Building

Figure 4

The fusion graph showing exploring nodes () and the number of matching features () as the weight of each edge. In this example, is higher than other edges (indicated by the thicker edge), so and are merged first. Furthermore, the map merging process is initialized by sending ’s map to following the direction of the edge.