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

Figure 6

Examples of the experiments with real data in indoor (a, b) and outdoor (c, d) environments. The video frames (a, c) are displaying illustrating visual features that have been tracked, as well as the corresponding trajectory and map estimated by the method (b, d). Comparing visual features corresponding to elements of the environment with the estimated map, it can be appreciated that the physical structure of the environment is partially recovered.

(a)

(b)

(c)

(d)