Discrete Dynamics in Nature and Society / 2020 / Article / Tab 2

Research Article

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 alone58.802.29
Conventional MSCKF with the data of IMU and the camera58.803.32
Fast Gauss–Newton MSCKF with the data of IMU and the camera55.303.52

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