A Robust Visual-Aided Inertial Navigation Algorithm for Pedestrians

<table class="table-group" id="tab5"><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">Proposed</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">MEAN[m]</td><td class="align_center">13.36</td><td class="align_center">18.75</td><td class="align_center"><b>5.58</b></td></tr><tr><td class="align_left">RMSE[m]</td><td class="align_center">21.73</td><td class="align_center">26.04</td><td class="align_center"><b>7.53</b></td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Results in the large-scale experiment.</div>

Journal of Sensors

tab5

Table 5

Table 5: A Robust Visual-Aided Inertial Navigation Algorithm for Pedestrians 