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About: Inverse depth parametrization     Goto   Sponge   NotDistinct   Permalink

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In computer vision, the inverse depth parametrization is a parametrization used in methods for 3D reconstruction from multiple images such as simultaneous localization and mapping (SLAM). Given a point in 3D space observed by a monocular pinhole camera from multiple views, the inverse depth parametrization of the point's position is a 6D vector that encodes the optical centre of the camera when in first observed the point, and the position of the point along the ray passing through and .