Flexibility and robustness of visual SLAM systems have been shown to ben- efit from an inverse depth parameterisation of features. However the in-.

Flexibility and robustness of visual SLAM systems have been shown to ben- efit from an inverse depth parameterisation of features.

13 апр. 2015 г. · Tobias Pietzsch. Efficient Feature Parameterisation for Visual SLAM Using Inverse Depth Bundles. Proc. BMVC'08, 2008.

27 апр. 2024 г. · We present a new parametrization for point features within monocular SLAM which permits efficient and accurate representation of uncertainty ...

This work shows that feature parametrization can be transformed from inverse depth to XYZ for increased computational efficiency with little reduction in ...

A major motivation of the approach in this paper is not only the efficient undelayed initialization, but also the desire to cope with features at all depths, ...

31 мар. 2010 г. · Abstract— Inverse-depth parameterization can successfully deal with the feature initialization problem in monocular.

28 мар. 2013 г. · This paper focuses on the use of recursive Bayesian filtering, as implemented by the Extendend Kalman Filter (EKF), to face the Visual SLAM ...

A possible solution to proper uncertainty modeling is the Unified Inverse Depth parametrization. In this paper we propose the Inverse Scaling parametrization ...

Inverse depth feature parametrization has been shown to perform better than XYZ feature parametrization with a better chance to provide consistent estimates ...