SVO: Fast Semi-Direct Monocular Visual Odometry - UZH

allows us to map a 3D point from the world coordinate frame to the camera frame of reference: kp=T k,w · wp. The relative transformation between two consecutive frames can be com-puted with T k,k−1 =T k,w ·T −1 k−1,w. During the optimization, we need a minimal representation of the transformation and, therefore, use the Lie algebra se(3 ...

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