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Text Elements

Grayscale Image

Rectified Image

(do NMS as part of this)

Raw RGB

Keypoint Detection

Descriptors for each keypoint

Visual Odometry

3D coordinates of object points X

Projective 3-Point Algorithm using Grunert’s Method

i

2D coordinates of object points X

i

Calibrated Camera Parameters

Camera Extrisincs

Feature point Detection

Sparse SLAM

Loop Closure

Camera Location

???

Reconstruction