Monocular Vision-Based Robot Localization and Target Tracking

Table 1

Error comparison of target tracking.

Algorithm	Item	Estimated target position (m)			Track OK	Target distance error (m)
		𝑋	𝑌	𝑍
MVTL	Target 1 in Path A	0.7600	0.1423	0.6528	OK	0.1369
	Target 2 in Path A	0.7800	−0.0374	0.6909	OK	0.1303
	Target 1 in Path B	0.8100	0.0975	0.6853	OK	0.0839
	Target 2 in Path B	0.7600	−0.1135	0.5819	OK	0.1523
MVTL Average Error						0.1049
	Target 1 in Path A	0.7800	0.0460	0.8234	OK	0.2042
	Target 2 in Path A	0.8370	−0.0218	1.0201	OK	0.3723
MonoSLAM [18]	Target 1 in Path B	1.1158	0.0896	1.2330	Failed	0.6160
	Target 2 in Path B	1.2281	−0.1161	1.4326	Failed	0.8435
MonoSLAM [18] Average Error						0.5090