- 1.The current position and velocity of the feature point on the image plane are predicted by Kalman filter algorithm, and then the accurate image Jacobian matrix is calculated.
该方法利用卡尔曼滤波估计特征点在图像空间中当前时刻的位置和速度，进而计算当前时刻较为准确的图像雅可比矩阵估计值。
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