Exploiting Attitude Sensing in Vision-Based Navigation for an Airship

Table 1

Results for relative height with a horizontal ground plane.

	Rel. height error		Average time (s)
	RMS	Std	RANSAC	Optimiz.	Total
Homography	0.033	0.030	0.40	0.29	0.69
Procrustes	0.019	0.017	0.74	—	0.74