A Novel Improved Probability-Guided RANSAC Algorithm for Robot 3D Map Building

Table 9

The evaluation of absolute translational error ().

		ICP-based method	Dense image-based method	Our method
Freiburg1/desk	min	0.092303	0.016672	0.007411
	max	1.078730	0.178265	0.246963
	RMSE	0.5715	0.1134	0.093726
Freiburg1/desk2	min	0.016459	0.021073	0.003560
	max	1.024154	0.427586	0.317763
	RMSE	0.368354	0.119614	0.096128