Recalling keypoints process
Add recalling keypoints
- Detect points in the new frame using FAST.
- Project the landmarks from the map into the new frame to obtain their projections.
- Group the landmarks' projections by cells and search for detected points in the nearest cells.
- Match the descriptors of newly detected points with the descriptor of each landmark.
- If a match is found, associate the detected keypoint with landmark ID and store the information.
Edited by Bruno Zanotti