Monocular Vision-Based Robot Localization and Target Tracking

Table 2

Comparison of localization errors between the encoder and IMU.

Robot motion	Maximum Velocity (m/sec)	Average Velocity (m/sec)	IMU Error (m)	Encoder Error (m)
Low Velocity	0.363	0.254	0.052	0.089
High Velocity	0.582	0.446	0.142	0.144