An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines

Table 2

Rotation errors (RMSE) in degrees of the EuRoC dataset.

	VINS (point and lines) (°)				MSCKF (°)				StVO-PL (°)
	Roll	Pitch	Yaw		Roll	Pitch	Yaw		Roll	Pitch	Yaw
MH 01	0.852	0.442	0.768	1.229	0.419	0.250	1.383	1.467	2.452	1.825	4.021	5.051
MH 02	1.349	1.169	1.338	2.231	1.049	2.377	0.676	2.685	1.973	1.636	4.569	5.239
MH 03	0.961	0.507	0.525	1.207	1.084	0.681	1.683	2.071	2.525	4.439	3.963	5.954
MH 04	0.918	1.612	1.734	1.271	0.314	0.869	1.970	2.170	4.936	1.423	3.985	6.503
MH 05	1.658	1.121	1.988	1.411	0.452	0.966	2.179	2.426	1.081	2.621	6.056	6.687
V1 01	1.326	1.267	2.193	2.869	2.234	2.322	0.908	3.348	2.744	2.644	3.130	4.931
V1 02	0.374	0.877	1.301	1.613	0.553	0.371	1.761	1.882	3.138	3.646	3.771	6.113
V1 03	1.544	0.517	1.362	2.123	1.179	0.549	3.041	3.307	2.841	4.004	6.178	7.892
V2 01	0.613	0.489	0.879	1.178	0.631	0.518	0.682	1.064	3.413	2.742	2.808	5.202
V2 02	0.888	0.841	1.138	1.671	0.599	0.697	1.867	2.081	2.096	2.391	5.184	6.081
V2 03	2.087	2.661	2.878	4.441	—	—	—	—	—	—	—	—