Applying SLAM Algorithm Based on Nonlinear Optimized Monocular Vision and IMU in the Positioning Method of Power Inspection Robot in Complex Environment

Table 2

The error analysis of data set under different algorithms.

Data set	The proposed algorithm	SLAM	OKVIS
MH_01_easy	0.09	0.11	0.15
MH_02_easy	0.07	0.10	0.14
MH_03_easy	0.06	0.11	0.13
MH_04_difficult	0.13	0.17	0.34
MH_05_difficult	0.19	0.21	0.36
MH_06_difficult	0.06	0.09	0.11