![]() ![]() So with a single camera, the hard case is if you are moving forward along the camera's optical axis, if the camera is moving perpendicular to the optical axis it's easily solved. The problem is that in the mono case the geometry for triangulation is very poor for standard cameras and general motion. Monocular case is different and most papers in the literature that I have found are full of implicit assumptions, with the primary being that the camera has a wide field of view. ![]() Robust, precise, and fast feature extraction is still being worked on. So for the stereo case, the mathematics has essentially be solved for 15+ years. I suspect that's because its much easier to work with than a regular stereo/monocular camera. A lot of the more recent work that I have seen has been using the Kinect/RGB-D sensors.
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