Improving Processing Time for the Location Algorithm of Robots

Table 1

The performance of the novel MSCKF algorithm with No.1 datasets.

	Process time (s)	Final error (m)
Conventional MSCKF with the data of IMU alone	19.02	2.32
Conventional MSCKF with the data of IMU and the camera	19.02	1.01
Fast Gauss–Newton MSCKF with the data of IMU and the camera	15.09	1.04