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Recent work has demonstrated the benefits of adopting a fully probabilistic SLAM approach in sequential motion and structure estimation from an image sequence. Unlike standard Structure from Motion (SFM) methods, this 'monocular SLAM' approach is able to achieve drift-free estimation with high frame-rate real-time operation, particularly benefitting from highly efficient active feature search, map management and mismatch rejection. A consistent thread in this research on real-time monoculardoi:10.1109/robot.2008.4543779 dblp:conf/icra/CiveraDM08 fatcat:6neoek24xrhjvhuvsuwo272joy