PCA-Based Line Detection from Range Data for Mapping and Localization-Aiding of UAVs

Table 1

Comparison between PCA and LS approaches for line fitting. The same noise level (σ = 4 cm) is considered for all the analyzed configurations of the setting parameters. Results are averaged over 10000 simulations.

(m)		(m)	mean (ms)	mean (ms)	rms (m)	(%)
0.005	200	1	0.10	0.02	0.040
0.005	1000	5	0.12	0.04	0.040
0.005	2000	10	0.59	0.34	0.040
0.01	100	1	0.09	0.02	0.040
0.01	500	5	0.11	0.03	0.040
0.01	1000	10	0.12	0.04	0.040
0.025	40	1	0.09	0.02	0.039
0.025	200	5	0.10	0.02	0.040
0.025	400	10	0.10	0.03	0.040
0.05	20	1	0.09	0.02	0.038
0.05	100	5	0.09	0.02	0.040
0.05	200	10	0.10	0.03	0.040
0.1	10	1	0.09	0.02	0.036
0.1	50	5	0.09	0.02	0.039
0.1	100	10	0.08	0.02	0.036