Fig. 1
From: A survey: which features are required for dynamic visual simultaneous localization and mapping?
(a): The violation of geometric constraints for point features in dynamic environments: (1) the tracked feature lies too far from the epipolar line, (2) back-projected rays from the tracked features do not meet, (3) faulty fundamental matrix estimation occurs when a dynamic feature is included in pose estimation, (4) high distance between re-projected features and observed features [16]; (b): The violation of geometric constraints for line features in a dynamic environment: (1) the matched 3D line (green) lies too far from the predicted 3D line (blue)