Figure 2 | Schematic diagram of the PAATAM tracking and mapping principle. (IMAGE)

Light Publishing Center, Changchun Institute of Optics, Fine Mechanics And Physics, CAS

Figure 2 | Schematic diagram of the PAATAM tracking and mapping principle.

Caption

Figure 2 | Schematic diagram of the PAATAM tracking and mapping principle. (A) The front-end tracking module simultaneously uses intensity and geometric features to estimate the probe pose change between two adjacent frames. (B) Geometric feature extraction and matching process. (C) The back-end uses a sliding window factor map to jointly optimize the probe state.

Credit

Sihua Yang et al.

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CC BY

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