Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Algorithm 1

Monocular SLAM initialization with initial motion hypothesis.

Require: Frame I:Initialization Frame

Frame T:Target Frame

:Camera Motion Hypothesis

Ensure: Initialized Map Points ,,

Perform feature point matching for Frame I and Frame T, resulting in matched points and .

Triangulate and using hypothesis to generate map points

Optimize , , with Init BA and update accordingly.

return