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Although many state-of-the-art visual SLAM algorithms use keyframes to help alleviate the computational requirements of performing online bundle adjustment, little consideration is taken for specific keyframe selection. In this work, we propose two entropy based methods which aim to insert keyframes that will directly improve the system's ability to localize. The first approach inserts keyframes based...
Typically, random sample consensus (RANSAC) approaches are used to perform outlier rejection for visual odometry, however the use of RANSAC can be computationally expensive. The parity space approach (PSA) provides methodology to perform computationally efficient consistency checks for observations, without having to explicitly compute the system state. This work presents two outlier based rejection...
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