未來展望

在本論文中，是以特徵點的方式來使用 trifocal tensor，但在 trifocal tensor 原本的推 導中，是以線段與線段之間的對應關係推導的，因此未來可以考慮改以線段來使用 trifocal tensor，也就是以線段作為攝影機的量測資訊，線段相較特徵點來說，在許多人 造的建築物環境下更為強健，而且在攝影機與慣性量測裝置的感測器融合中，使用線段 作為攝影機量測資訊的方式在今年 2013 的 ICRA 才首次被提出[45]，這後續仍有相當多 的研究空間。另一方面在測程器的架構中，可以用相對的姿態來作為濾波器的狀態[30]，

這可以使得姿態的不確定性不會被一直傳遞下去，而是被限制在一個大小。

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