Improving Processing Time for the Location Algorithm of Robots

Table 2

The performance of improved MSCKF algorithm with No. 2 datasets.

	Process time (s)	Final error (m)
Conventional MSCKF with the data of IMU alone	58.80	2.29
Conventional MSCKF with the data of IMU and the camera	58.80	3.32
Fast Gauss–Newton MSCKF with the data of IMU and the camera	55.30	3.52