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

Table 1

Experimental results obtained under indoor conditions.

Method	Ts (s)	aTpFs (s)	Tr (s)	aTpFr (s)	NIF	aFpF	aNFRpF
DE	130		114		1294
UID	210	.	525		2126
UID2E	201		384		2304