A Robust Visual-Aided Inertial Navigation Algorithm for Pedestrians

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Algorithm</td><td class="align_center">VINS-mono</td><td class="align_center">SHOE</td><td class="align_center">VA-INS</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">MEAN[m]</td><td class="align_center">7.62</td><td class="align_center">3.51</td><td class="align_center"><b>2.38</b></td></tr><tr><td class="align_left">RMSE[m]</td><td class="align_center">7.89</td><td class="align_center">3.74</td><td class="align_center"><b>2.57</b></td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Results in visual-restricted Experiment indoor.</div>

Journal of Sensors

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Table 3

Table 3: A Robust Visual-Aided Inertial Navigation Algorithm for Pedestrians 