Pose Estimation of a Noncooperative Target Based on Monocular Visual SLAM

Table 2

Calculated values and the errors of three different models under different imaging speeds (rotation angle of 90 degrees).

Frame	Calculated value (°)	RMS error (°)	Absolute error (°)	Fractional error (%)
Model (a): no textures_3 components
900	86.35	2.43	3.65	4.06
1800	85.26	2.46	4.74	5.27
2700	85.05	2.39	4.95	5.50
3600	88.95	0.71	1.05	1.17
Model (b): rough textures_3 components
900	87.17	1.77	2.83	3.14
1800	88.92	0.49	1.08	1.20
2700	89.42	0.17	0.58	0.64
3600	91.50	1.37	1.50	1.67
Model (c): rough textures_5 components
900	89.40	0.29	0.60	0.66
1800	89.71	0.23	0.29	0.33
2700	90.06	0.50	0.06	0.06
3600	90.04	0.52	0.04	0.04