Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Table 4

Convergence statistics.

		ANCF	AIE	ACE
1	1°	1.49	95.4%	0.83
2	0.7°	1.65	83.5%	0.58
3	0.5°	2.81	78.1%	0.41
4	0.3°	3.94	67.5%	0.25
5	0.1°	5.63	63.3%	0.08