Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach

Figure 5

In simulations, the omnidirectional camera was moved through an environment composed by 3d points which emulate visual landmarks. (a) shows one of the frames as it should have been seen by the camera. (b) shows the actual (red) and estimated (blue) trajectory and map after 500 frames.

(a)

(b)