1.
AR
A
@ 2
4

2.
R
□
A
2
X
Z
Y
[R | t]

3.
F
3
I
,

4.
A
4

5.
A
5

6.
□ 2.
□ 1
□ 1
6

7.
□
□
7

8.
C a
d
□
e
□
□ T K iN
-
Z c L
8

9.
R
: 1 : R
2 0 4
R
□
□ R
□ R
A
9
R

10.
3
4
4
10A
pt
[R|t]
q

11.
4 3
3
11A
Pt+1
[R|t]
q

12.
Kanade-Lucas-Tomasi
SEK LE G
□ K _ d
C G
Ec 2996 .8 68: /: 9. 9 5 5 9 : / 66 6/1
12
W

13.
:
132 .. 0 .1 1/ 0 35 2

14.
C M - I J LK
14A 0 2 2 : 4 2 : B 2 , 2

15.
C
Z
N
Z
15

16.
:
16- / / / - . /

17.
I C C
N C
V
I Z
T ,
18

18.
.
3
2 3
3
2 3 3
1
19

19.
20

20.
21

21.
L C
N N
□
L Z K
T
22

22.
A
23

23.
A
24

24.
e L d
A e
Ad M
O
aAV S
25

25.
Visual Odometry
26
KLT
5
SfM

26.
Visual Odometry
27
KLT
5
SfM

27.
Visual Odometry
28
KLT
5
E
SfM
E
E [R|t]

28.
S
] N r =
5 = V D
□ S
V
□ i e
V
[ e
29
=

29.
+ 5
F3 12
1 -
1
N 1
N 1
1 2
D
30

30.
e
□ i 3
5
1
□
= N + 4
=
31

31.
32
B
C

32.
Visual Odometry
33
KLT
5
E
SfM

33.
Visual Odometry
34
KLT
5
E
SfM

34.
S M
S
0
>S
L 0 A
A
0 0
35

35.
□
□
2
□
□
36

36.
N
□ -
□ V O
□ --
G
N
37

37.
4
A
38

38.
) ) ) ) )
( )
□ e Pa
pu d ciP l
L e
□ S sr k O
t o
MV e P
nT AO mg
39

39.
40
30Hz
{

40.
□
□
41

41.
mr Z
- CN g
□
□ I R tC
a A C e
C S 4
K C
y l u
□ CB
42
d

42.
S
S W M
c a P L
439 92 A , 92 2B 93: 5B 2 9 2 5 B 2 3 A9 5B8 3 2 0- .
( )

43.
44

44.
ZY S=
? a
b M D O
L X A
45. / / :

45.
y r B18:65 . 8 :B
3/ - 96 18:65 F
□ a Is C
n m G
o~i t p
C 0 2 P
c De ~i t
u K R
u h
468 65 98 5 9 6:

46.
c he 0, -
47
1 -
2. 3
0, -
2 3
,0 0, -
2 4 3
• ] K[ G
A B
• b
• NLRS
a
• MN Dd
• ] K[ G
• T b
G0, -

47.
M
S
A P
L M
□
□ T A
48

48.
A
49

49.
A
50

50.
□
□
A
□
□
51

51.
A
L
L
M S
52

52.
-
□ e 2
a
1
□ a a
1 8
53

53.
4
AR 4
S
54P G

54.
4
A
55

55.
a M
M I
□ M
□ S
M
G
56

56.
57
4
4

57.
M M
S L
A
□
□
□
□ L
58

58.
!
!
59! 4

59.
61

60.
, Q OI M U
62
6 R
o 6M 6
[R|t]
e l
M
F 4
n M 6 D
FC
F
Q OI
[R|t] Fc

61.
:A
63/775 / 20 1 . 5 7 - 2 0 1 1 2 0 1 1 2 /721
DSO(Direct Sparse
Odometry)

62.
MNA
□ B RT
64
0 10 8 2
• . L
•
• GD
-- 10 78 2
• . L
• CAS
• GD
•

63.
a S
L
gD R SR
e ih C R R
S d DD A
□ 4 : 1 5 5 0 :/ 0
. : / 5 3
1 DM c A
65

64.
1 P1
□
□
66