I am trying to derive the inverse depth equation used in monocular SLAM algorithms. Specifically the equation 8 of the ORB SLAM paper

I am very close, except I do not understand where the (u_j-c) term comes form. I get the same formulae with only the c (principal point) component.

I am thinking it is because u_j in this case is indexed from the start of the epipolar line instead of the image (0,0). Is this correct?

Best, Marc


Your Answer

By clicking "Post Your Answer", you acknowledge that you have read our updated terms of service, privacy policy and cookie policy, and that your continued use of the website is subject to these policies.

Browse other questions tagged or ask your own question.