[tonylemesmer]

OK so my understanding is pretty much the gist of that. See how you've moved by comparing features extracted from a series of images taken over time. I just don't understand the maths :)

The reason we went with a single camera is lack of space. As you can see from some of the imagery of the product, the camera stack is a huge proportion of the machine. Also when the algorithms were being developed in the early 2000's cameras were still expensive bits of kit. I seem to remember the first one being 1024x1024 resolution, pretty poor for photography, but good enough for feature mapping with SLAM.