Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Table 2

Self-evaluation performance indicators.

	Indicator Name	Unit	Alias
1	Number of Convergence Frames	frame	NCF
2	Initial Error		IE
3	Convergence Error		CE
4	Average Number of Convergence Frames	frame	ANCF
5	Average Initial Error		AIE
6	Average Convergence Error		ACE