Fig. 2
From: A survey: which features are required for dynamic visual simultaneous localization and mapping?
Model for a dynamic camera and dynamic object. The camera observes the same dynamic car at timestamps k − 1 and k. Here, the black solid curves represent camera (\( _W^W{T}_c \)) and object poses (\( _W^W{T}_o \)) in the world frame. Red solid lines represent the position and the speed of dynamic object in the world frame. Blue dashed lines represent 3D points in camera frames or the world frame