Feature Initialization for Bearing-Only Visual SLAM Using Triangulation and the Unscented Transform
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Bibliographic record
Abstract
We introduce the direct linear triangulation (DLT) as a general technique for delayed feature initialization for bearing-only visual simultaneous localization and mapping (SLAM). Visual features are tracked over multiple frames, and triangulation is performed to recover a three-dimensional landmark position. The unscented transform is used to estimate the landmark covariance matrix. Our previous work in this field is extended with the novel usage of the DLT, as well incorporating observation information from the current SLAM map into the initialization process, resulting in more accurate landmark estimation. Our technique is simple and efficient, requiring no lengthy Jacobian calculations. We present results demonstrating the technique in a bearing-only SLAM system with a mobile robot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it