참고자료 더보기 - https://arxiv.org/abs/2108.01654 - https://www.koreascience.or.kr/article/JAKO201411560021024.pdf Sparse visual SLAM MonoSLAM (2007) Andrew J. Davison et al. Speed up SfM algorithm using probabilistic filters Can obtain landmarks and trajectory of the camera in real-time PTAM (2007) Georg Klein, David Murray Single thread에서 sequential 하게 동작하던 MonoSLAM을 개선 Bundle adjustment가 filter-bas..