Figure 13: (a) Example of an experiment using the data set 2 and the feature-based method, using 2 0 matched points. (b) RMS error and step time versus the number of matched points using the feature-based method. (c) 𝑋 , 𝑌 , and 𝜃 error for each step of the visual odometry estimation process using the feature-based method using 4 0 matched points.