PDF-MonocularSLAMasaGraphofCoalescedObservationsEthanEadeee231@cam.ac.ukTo
Figure1ObservationsarecoalescedinnodeslocalcoordinateframesaconstantnumberofrecentkeyframeswhicharechosensparselyfromthesetofallviewsusingsimpleheuristicsWhileperformingsuchtemporallylocalbundlea
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