Table 5: Initialization results under different terrains.

MethodTerrainSRIAEI

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