Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

<table class="fixed-width table-group" id="tab3"><tr><td><table class="table"><colgroup><col style="width:1.74em"/><col style="width:13.29em"/><col style="width:5.61em"/><col style="width:3.30em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center">Indicator Name</td><td class="align_center">Unit</td><td class="align_center">Alias</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">1</td><td class="align_center">Success Rate of Initialization</td><td class="align_center">percentage</td><td class="align_center">SRI</td></tr><tr><td class="align_left">2</td><td class="align_center">Average Error of Initialization</td><td class="align_center"><span style="width: 18.6419ptpx;"><svg height="12.6199pt" id="M122" style="vertical-align:-3.38375pt" version="1.1" viewbox="-0.0498162 -9.23615 18.6419 12.6199" width="18.6419pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M517 51L485 54C448 58 441 63 441 115V712C404 700 337 684 285 678V653C357 648 362 645 362 580V437C339 446 309 449 295 449C159 449 38 340 38 201C38 61 143 -12 223 -12C234 -12 261 -6 301 17L362 53V-12C420 9 495 22 517 26V51ZM362 85C338 67 301 51 266 51C201 51 128 109 128 228C128 373 212 411 259 411C296 411 338 395 362 360V85Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.864,0)"><path d="M380 106C343 72 306 56 265 56C195 56 116 112 115 248C235 252 361 262 377 265C396 269 400 277 400 297C400 374 333 449 250 449H249C198 449 144 421 103 376S37 269 37 201C37 88 109 -12 232 -12C263 -12 332 6 395 84L380 106ZM225 412C281 412 315 364 314 312C314 297 308 292 290 292C232 290 176 289 120 289C135 370 180 412 225 412Z"></path></g><g transform="matrix(.013,0,0,-0.013,12.389,0)"><path d="M463 437C426 431 375 425 327 422C297 440 264 449 231 449H230C153 449 51 396 51 283C51 215 94 168 139 149C123 129 91 103 51 88C50 78 53 60 62 46C75 25 100 2 136 -9C112 -28 73 -59 53 -79C38 -94 29 -113 29 -135C30 -192 91 -257 203 -257C336 -257 452 -160 452 -59C452 39 371 59 309 59C275 59 240 58 203 58C158 58 140 77 140 96C140 110 157 129 170 138C186 135 205 133 221 133C306 133 396 185 396 293C396 328 384 360 366 381L423 378C439 387 459 413 468 429L463 437ZM219 418C277 418 314 362 314 284C314 205 275 166 231 165C176 165 137 221 137 299C137 376 177 418 219 418ZM241 -11C285 -11 314 -14 339 -24C367 -36 384 -61 384 -95C384 -157 335 -206 240 -206C166 -206 108 -165 108 -110C108 -82 128 -54 154 -32C172 -17 195 -11 241 -11Z"></path></g></svg></span></td><td class="align_center">AEI</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparative-evaluation performance indicators.</div>

Complexity

tab3

Table 3

Table 3: Passive Initialization Method Based on Motion Characteristics for Monocular SLAM 