Research Article

Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Table 2

Self-evaluation performance indicators.

ā€‰Indicator NameUnitAlias

1 Number of Convergence Frames frame NCF
2 Initial Error IE
3 Convergence Error CE
4 Average Number of Convergence Frames frame ANCF
5 Average Initial Error AIE
6 Average Convergence Error ACE