I am trying to understand a paper on visual odometry and I am having troubles understanding how a map is generated using a stereo camera as sensor.
The paper I am reading is SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems, and at pag. 5, it starts describing how to build a map using a stereo camera.
I have undestood that to build a map the concept of disparity is used and the difference from the disparity is projected along the epipolar line to have an idea of the distance. But in the paper it says that it is used a recursive Bayesian depth filter to estimate depth.
How does the recursive Bayesian depth filter is used in this context is what I don't understand. I am self learning, so I don't have a lecture where I have studied this to refer to.
Can somebody please help me understand?