Exploiting Attitude Sensing in Vision-Based Navigation for an Airship

Table 2

Comparison of visual odometry with the GPS reference. All values are given in meters.

Unit: meters	3D Position error			2D Position error			Error in the length of t
	Avg.	Max.	Final	Avg.	Max.	Final	RMS	Avg.	Max.
Homography	57.5	98.2	52.3	43.1	67.6	52.0	0.88	−0.63	1.24
Visual odometry: Procrustes	16.5	43.6	43.6	15.3	43.3	43.3	0.73	−0.46	0.59