Research Article
Affine-Invariant Geometric Constraints-Based High Accuracy Simultaneous Localization and Mapping
Table 2
Results of experiment CityCenter.
| | | Recall | Precision | Average processing time (per frame) |
| | The proposed method | 86.2% | 100% | 1570.1 ms | | RTAB-map [5] | 81% | 100% | 1375.2 ms | | FAB-map [6] | 43.32% | 100% | 233.2 ms | | PIRF-nav2.0 [8] | 80% | 99.4% | 426.3 ms |
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