Research Article
Passive Initialization Method Based on Motion Characteristics for Monocular SLAM
Table 6
Number of matched feature points needed.
| | | method | Terrain | ANMFP |
| | 1 | ours () | Plain | 57.1 | | 2 | ours () | Plain | 58.5 | | 3 | ours () | Plain | 56.1 | | 4 | ours () | Plain | 55.2 | | 5 | ours () | Plain | 63.3 | | 6 | ORB-SLAM2 | Plain | 297.3 | | 7 | DSO | Plain | 1907.1 | | 8 | ours () | Mountainous | 78.7 | | 9 | ours () | Mountainous | 68.2 | | 10 | ours () | Mountainous | 74.9 | | 11 | ours () | Mountainous | 66.2 | | 12 | ours () | Mountainous | 71.1 | | 13 | ORB-SLAM2 | Mountainous | 254.8 | | 14 | DSO | Mountainous | 1953.8 |
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