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.

					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