Passive Initialization Method Based on Motion Characteristics for Monocular SLAM

Table 5

Initialization results under different terrains.

	Method	Terrain	SRI	AEI
1	ours ()	Plain	95.4%	0.83
2	ours ()	Plain	83.5%	0.58
3	ours ()	Plain	78.1%	0.41
4	ours ()	Plain	67.5%	0.25
5	ours ()	Plain	63.3%	0.08
6	ORB-SLAM2	Plain	8.2%	1.67
7	DSO	Plain	12.2%	1.01
8	ours ()	Mountainous	23.1%	0.93
9	ours ()	Mountainous	17.1%	0.65
10	ours ()	Mountainous	14.9%	0.44
11	ours ()	Mountainous	11.1%	0.24
12	ours ()	Mountainous	9.1%	0.08
13	ORB-SLAM2	Mountainous	5.4%	1.78
14	DSO	Mountainous	10.4%	1.38