Journal of Sensors / 2017 / Article / Fig 7

Research Article

Distributed Monocular SLAM for Indoor Map Building

Figure 7

Resultant map of an exploration node after the map merging process. The exploring node’s map and key frames are shown in green and yellow, respectively. The map and key frames received from the other node are shown in pink and blue, respectively. Constraints of the pose graph are not shown here to avoid too much clutter in the figure.