Systems and methods for VSLAM optimization

摘要

H:/dxl/Intrwovn/NRPortbl/DCC/DXL/7745724_I.docx-1/05/2015 A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of: creating landmarks in a mobile device by: finding inlier matches by camera motion and epipolar geometry; refining camera motion using inlier matches; determining if sufficient inliers exist; determining if a tolerance has been reached; adjusting a tolerance based on the determination that a tolerance has been reached; and returning inliers and camera motion as a new landmark. WO 20 12/040644 PCT/US201 11053122