Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles

doi:10.1371/journal.pone.0167197

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Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles

Fig 5

An hypothesis of depth d_i of a candidate point is computed by triangulation between the first location when the point was detected and the current location of the aerial vehicle.

doi: https://doi.org/10.1371/journal.pone.0167197.g005