Table 1: Error comparison of target tracking.

Algorithm ItemEstimated target position (m) Track OKTarget distance error (m)

MVTLTarget 1 in Path A0.76000.14230.6528OK0.1369
Target 2 in Path A0.7800−0.03740.6909OK0.1303
Target 1 in Path B0.81000.09750.6853OK0.0839
Target 2 in Path B0.7600−0.11350.5819OK0.1523

MVTL Average Error0.1049

Target 1 in Path A0.78000.04600.8234OK0.2042
Target 2 in Path A0.8370−0.02181.0201OK0.3723
MonoSLAM [18]Target 1 in Path B1.11580.08961.2330Failed0.6160
Target 2 in Path B1.2281−0.11611.4326Failed0.8435

MonoSLAM [18] Average Error0.5090