Exploiting Attitude Sensing in Vision-Based Navigation for an Airship

Table 3

Average execution times of visual odometry techniques, in seconds.

Unit: seconds	RANSAC		Optimization		Total
	Avg.	Std.	Avg.	Std.
Homography	0.05	0.02	0.43	0.19	0.48
Visual odometry: Procrustes	0.18	0.08	—	—	0.18