Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Table 1

Summary of initialization methods.

	Method	Initialization	Main Approach	Category
1	PTAM	H	Feature-based	SLAM
2	ORB-SLAM	H+E	Feature-based	SLAM
3	LSD-SLAM	Rand	Direct	SLAM
4	DSO	Rand	Direct	VO
5	SVO	H	Feature-based+Direct	VO