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SVO: Fast Semi-Direct Monocular Visual Odometry

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Figure

Fig. 1: Tracking and mapping pipeline
Fig. 4: In the last motion estimation step, the camera pose and the structure (3D points) are optimized to minimize the reprojection error that has been established during the previous feature-alignment step.
Fig. 6: Very little motion is required by the MAV (seen from the side at the top) for the uncertainty of the depth-filters (shown as mangenta lines) to converge.
TABLE II: Relative pose and rotation error of the trajectory in Figure 7
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