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

Table 2

Experimental results obtained under outdoor conditions.

Method	Ts (s)	aTpFs (s)	Tr (s)	aTpFr (s)	NIF	aFpF	aNFRpF	AEE (m)
DE	148		44		755
UID	300		236		1442
UID2E	241		142		1399