Research Article

Validation of Data Association for Monocular SLAM

Table 4

Average cases of data pair tuples rejected in a single batch validation search, on the 102.34 average searches during experimental sequences and in %.

Pairs rejected per searchOn sequence%

1 pair incompatible90.872.35
2 pairs incompatible22.618.08
3 pairs incompatible8.76.93
4 pairs incompatible3.22.54
5 pairs incompatible0.20.15