Mobile Robot Localization Based on Vision and Multisensor

Table 2

APE statistics results of two methods.

Index	Proposed algorithm	Monocular + IMU
Max pose APE (m)	0.075407	0.311616
Min pose APE (m)	0.002026	0.046728
Mean pose APE (m)	0.024533	0.154703
Pose RMSE (m)	0.027296	0.169879