Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy

Table 2

The quantitative comparison results on V2_01_easy sequence.

	VI-ORBSLAM	VINS-MONO	Ours	ORB-SLAM3 (mono)
Max	0.113469	0.229729	0.025111	0.155221
Mean	0.051731	0.060444	0.012993	0.035622
Median	0.053289	0.058242	0.012664	0.021165
Min	0.005098	0.005024	0.002810	0.008923
RMSE	0.056971	0.07014	0.013892	0.042956
SSE	0.574481	3.719183	0.024702	1.029630
Std	0.023866	0.035582	0.004915	0.032003