Degenerate motions in multicamera cluster SLAM with non-overlapping fields of view
作者：
Highlights：
• Analysis of solution degeneracy in general multicamera cluster SLAM.
• Decomposition of system determines conditions for degeneracy.
• Dense sub-matrix reveals geometric structure for futher analysis.
• Identification of degenerate motions independent of feature constellation.
• Experiments demonstrate that adding features and cameras decreases degenerate set.
摘要
•Analysis of solution degeneracy in general multicamera cluster SLAM.•Decomposition of system determines conditions for degeneracy.•Dense sub-matrix reveals geometric structure for futher analysis.•Identification of degenerate motions independent of feature constellation.•Experiments demonstrate that adding features and cameras decreases degenerate set.
论文关键词：SLAM,Computer vision,Multicamera cluster,Non-overlapping FOV,Degeneracy analysis,Critical motions
论文评审过程：Received 29 May 2014, Revised 21 September 2015, Accepted 15 January 2016, Available online 23 February 2016, Version of Record 30 May 2016.
论文官网地址：https://doi.org/10.1016/j.imavis.2016.01.005
