Method for SLAM Based on Omnidirectional Vision: A Delayed-EKF Approach

Figure 7

Top view of the estimated map and trajectory, using real data from sensors mounted in a differential drive robot, moving through corridors and hallways of a building. The results are presented for the proposed method (DE) (a), the UID method (b), and the UID2E method (c).

(a)

(b)

(c)