3fo_the_three_frame_only.md

3FO: The Three-Frame-Only Approach for Fast and Accurate Monocular SLAM Initialization

Author: Zhang

Year: 2022

Notes:

• Init monocular slam using 3 frames => 5 times faster and 36.7% more accurate on ORBSLAM2 w/ EUROC
• traditionnal: 2 frames and PnP + BA
• here: landmarks init on 2 first frames, third frames to filter outliers + MLP to solve essential matrix + BA
• MLP takes 5 points coresp as input and gives 10 depth estimations as output
• MLP is a classification network that returns anchors, the real depth is obtained with homotopy continuation