A Novel Fusion Scheme for Vision Aided Inertial Navigation of Aerial Vehicles

Figure 4

10 image matching errors, different figure represents image matching errors by using different fully observed image.

(a) 1st image registration position error

(b) 2nd image registration position error

(c) 3rd image registration position error

(d) 4th image registration position error

(e) 5th image registration position error

(f) 6th image registration position error

(g) 7th image registration position error

(h) 8th image registration position error

(i) 9th image registration position error

(j) 10th image registration position error