Research Article
Passive Initialization Method Based on Motion Characteristics for Monocular SLAM
Table 5
Initialization results under different terrains.
| ā | Method | Terrain | SRI | AEI |
| 1 | ours () | Plain | 95.4% | 0.83 | 2 | ours () | Plain | 83.5% | 0.58 | 3 | ours () | Plain | 78.1% | 0.41 | 4 | ours () | Plain | 67.5% | 0.25 | 5 | ours () | Plain | 63.3% | 0.08 | 6 | ORB-SLAM2 | Plain | 8.2% | 1.67 | 7 | DSO | Plain | 12.2% | 1.01 | 8 | ours () | Mountainous | 23.1% | 0.93 | 9 | ours () | Mountainous | 17.1% | 0.65 | 10 | ours () | Mountainous | 14.9% | 0.44 | 11 | ours () | Mountainous | 11.1% | 0.24 | 12 | ours () | Mountainous | 9.1% | 0.08 | 13 | ORB-SLAM2 | Mountainous | 5.4% | 1.78 | 14 | DSO | Mountainous | 10.4% | 1.38 |
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