Mobile Robot Localization Based on Vision and Multisensor

Table 1

Scale values and convergence time.

Algorithm	Monocular + IMU		Proposed algorithm
Number	Scale (m)	Time (s)	Scale (m)	Time (s)
1	0.07466	2.67605	0.03456	2.31003
2	0.05031	2.31583	0.02535	1.85799
3	0.07570	2.41201	0.02435	2.09317
4	0.03262	2.21847	0.01493	1.68178
5	0.03084	2.34407	0.01459	2.00447
6	0.08114	2.75072	0.01258	1.78724
7	0.01052	1.35351	0.01606	2.00229
8	0.02975	1.55614	0.02438	1.99803
9	0.03340	2.32441	0.01275	2.08879
10	0.07908	2.79579	0.02233	1.89776
Mean	0.04981	2.27470	0.02019	1.97215
RMSE	0.02448	0.45333	0.00679	0.16796