Mps Map
![The architecture of ORBSLAM2 [5].](https://www.researchgate.net/publication/353922122/figure/fig1/AS:1061409983049730@1630071268810/The-architecture-of-ORBSLAM2-5-KFs-means-keyframes-MPs-map-points-and-ref-means_Q640.jpg)
![The architecture of ORBSLAM2 [5].](https://www.researchgate.net/publication/353922122/figure/fig3/AS:1061409983045632@1630071268873/The-architecture-of-the-proposed-systemKFs-means-keyframes-MPs-map-points-and-ref_Q640.jpg)
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