Scalar
xi, yi, zi	camera coordinates
θi, ϕi	camera azimuth and elevation
ri	real depth to feature
ρi	inverse depth to feature
αmin	min. landmark parallax angle (monocular case)
αSmin	min. landmark parallax angle (stereo case)
plmin	min. parallax to crop FoV intersection
Vector
x̂	augmented state vector
x̂v	robot camera state vector
rWC	camera optical center position quaternion
qWC	robot camera orientation quaternion
VW	robot camera linear speed vector
ωW	robot camera angular speed vector
ŷi	i-th feature vector
fv	camera motion prediction model
υW	linear speed pulse assumed by model
ζW	angular speed pulse assumed by model
hc	measurement prediction model
g	Kalman innovation vector
z	features measurement vector
h	predicted features vector
Matrix
Q	process noise matrix
∇Fu	process noise Jacobian matrix
RCW	world to camera transformation matrix
∇Hk	measurement model Jacobian matrix
Sk	innovation covariance matrix
Ruv	measurement noise matrix
Wk	Kalman gain matrix
Pk	augmented state covariance matrix
∇Fx	stated prediction model Jacobian matrix