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Unified Inverse Depth Parametrization for Monocular SLAM
2006
Robotics: Science and Systems II
We present a new parametrization for point features within monocular SLAM which permits efficient and accurate representation of uncertainty during undelayed initialisation and beyond, all within the standard EKF (Extended Kalman Filter). The key concept is direct parametrization of the inverse depth of features relative to the camera locations from which they were first viewed, which produces measurement equations with a high degree of linearity. Importantly, our parametrization can cope with
doi:10.15607/rss.2006.ii.011
dblp:conf/rss/MontielCD06
fatcat:ssbfq3lkezdspelzabkfsnqbg4