Research Article
Mobile Robot Simultaneous Localization and Mapping Based on a Monocular Camera
Table 1
The deviation evaluation of original PTAM and proposed algorithm to ground only PTAM.
| ā | ā | | | | Pitch | Yaw | Roll |
| Proposed algorithm | Mean | | 0.0052 | 0.0015 | | | | Variance | 0.0025 | 0.0048 | 0.0015 | 0.0006 | 0.0009 | 0.0004 | Original PTAM | Mean | | 0.1835 | 0.0104 | | 0.0057 | 0.0044 | Variance | 0.1166 | 0.2207 | 0.1540 | 0.0272 | 0.0159 | 0.0115 |
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