GPS and Stereovision-Based Visual Odometry: Application to Urban Scene Mapping and Intelligent Vehicle Localization

Table 2

Comparison of traveling distance (/m).

Method	Ground truth	Estimated dist.	Error %	Mean	Std.
Vision-2D	651.78	627.05	3.79	27.61	11.83
Vision-3D	651.78	636.46	2.35	25.06	10.11
GPS/VO	651.78	683.23	4.83	0.18	0.92