The paper introduces a QP-based safety filter that enforces a minimum number of visible features for visual SLAM by treating the count as a control-barrier constraint.
Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras,
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Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
The paper introduces a QP-based safety filter that enforces a minimum number of visible features for visual SLAM by treating the count as a control-barrier constraint.