Research Article
An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines
Table 1
Translation errors (RMSE) in meters of the EuRoC dataset.
| | VINS (point and lines) (m) | MSCKF (m) | StVO-PL (m) | | | | | | | | | | | | |
| MH 01 | 0.105 | 0.112 | 0.116 | 0.193 | 0.352 | 0.139 | 0.071 | 0.386 | 0.813 | 0.271 | 0.388 | 0.941 | MH 02 | 0.082 | 0.168 | 0.108 | 0.216 | 0.134 | 0.126 | 0.078 | 0.201 | 0.929 | 0.251 | 0.202 | 0.984 | MH 03 | 0.306 | 0.137 | 0.172 | 0.377 | 0.174 | 0.491 | 0.124 | 0.535 | 1.669 | 1.069 | 0.271 | 2.001 | MH 04 | 0.323 | 0.322 | 0.307 | 0.551 | 0.629 | 0.665 | 0.114 | 0.923 | 0.865 | 1.365 | 1.853 | 2.458 | MH 05 | 0.376 | 0.335 | 0.209 | 0.546 | 0.569 | 0.326 | 0.645 | 0.920 | 0.672 | 2.232 | 0.677 | 2.423 | V1 01 | 0.286 | 0.101 | 0.109 | 0.261 | 0.797 | 1.004 | 0.717 | 0.322 | 0.797 | 1.003 | 0.718 | 1.468 | V1 02 | 0.081 | 0.085 | 0.175 | 0.211 | 0.181 | 0.146 | 0.055 | 0.239 | 0.250 | 0.379 | 0.392 | 0.599 | V1 03 | 0.202 | 0.247 | 0.134 | 0.347 | 0.291 | 0.357 | 0.396 | 0.608 | 0.264 | 1.823 | 0.453 | 1.897 | V2 01 | 0.098 | 0.171 | 0.045 | 0.202 | 0.206 | 0.214 | 0.238 | 0.381 | 0.971 | 0.388 | 0.962 | 1.421 | V2 02 | 0.096 | 0.246 | 0.120 | 0.289 | 0.412 | 0.203 | 0.264 | 0.531 | 1.519 | 0.968 | 1.766 | 2.522 | V2 03 | 0.529 | 0.649 | 0.567 | 1.011 | — | — | — | — | — | — | — | — |
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