Validation of Data Association for Monocular SLAM

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left"> </td><td align="center">Average time per frame (ms)</td><td align="center">Standard deviation</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left">JCBB</td><td align="center">52.73</td><td align="center">19.20</td></tr><tr><td align="left">HOHCT</td><td align="center">24.31</td><td align="center">2.62</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Average computation time per frame for the DI-D monocular SLAM with JCBB and HOHCT validations.

Mathematical Problems in Engineering

tab5

Table 5

Table 5: Validation of Data Association for Monocular SLAM 