 Inverse depth parametrization

In computer vision, the inverse depth parametrization is a parametrization used in methods for 3D reconstruction from multiple images such as simultaneous localization and mapping (SLAM).Given a point formula_1 in 3D space observed by a monocular pinhole camera from multiple views, the inverse depth parametrization of the point's position is a 6D vector that encodes the optical centre of the camera formula_2 when in first observed the point, and the position of the point along the ray passing through formula_1 and formula_2.