Research Article
Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments
Table 2
Position errors of the database camera with different mapping methods.
| Scenes | Methods of modeling | Average errors (meters) | Accuracy improvement (%) | In direction | In direction | Of Euclidean distance | Day | Night | Day | Night | Day | Night | Day | Night |
| Small room | Proposed method | 0.0565 | 0.0440 | 0.0424 | 0.0397 | 0.0750 | 0.0640 | — | — | RGB-D ICP | 0.0739 | 0.0721 | 0.0617 | 0.0566 | 0.1040 | 0.0980 | 27.88 | 34.69 | Classical ICP | 0.0822 | 0.0823 | 0.0726 | 0.0759 | 0.1186 | 0.1187 | 36.76 | 46.08 |
| Medium room | Proposed method | 0.0608 | 0.0592 | 0.0418 | 0.0296 | 0.0775 | 0.0695 | — | — | RGB-D ICP | 0.0906 | 0.0874 | 0.0761 | 0.0691 | 0.1237 | 0.1197 | 37.35 | 41.94 | Classical ICP | 0.1211 | 0.1220 | 0.0902 | 0.0883 | 0.1629 | 0.1632 | 52.42 | 57.41 |
| Large room | Proposed method | 0.1187 | 0.1089 | 0.0975 | 0.0903 | 0.1643 | 0.1525 | — | — | RGB-D ICP | 0.2318 | 0.2374 | 0.1946 | 0.1702 | 0.3247 | 0.3144 | 49.40 | 51.49 | Classical ICP | 0.3578 | 0.3171 | 0.2241 | 0.2029 | 0.4539 | 0.4505 | 63.80 | 66.15 |
| Corridor | Proposed method | 0.0800 | 0.0838 | 0.0413 | 0.0411 | 0.0953 | 0.0977 | — | — | RGB-D ICP | 0.1584 | 0.1644 | 0.0537 | 0.0525 | 0.1727 | 0.1787 | 44.82 | 45.33 | Classical ICP | 0.1970 | 0.2057 | 0.1253 | 0.1216 | 0.2518 | 0.2548 | 62.15 | 61.66 |
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