Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Figure 10

Initialization results comparison (green: success; red: failed), (a) plain (ours), (b) plain (ORB-SLAM2), (c) plain (DSO), (d) mountainous (ours), (e) mountainous (ORB-SLAM2), and (f) mountainous (DSO).

(a)

(b)

(c)

(d)

(e)

(f)