Table 5 Trajectory RMSE(m)/backend processing time per frame(ms) on the Kaist Urban dataset
From: M2C-GVIO: motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles
| Â | Kaist 30 | Kaist 31 | Kaist 32 | Kaist 33 | Kaist 38 |
|---|---|---|---|---|---|
VINS-Mono | 201.44/20.02 | 343.69/14.18 | 34.72/11.29 | 23.07/21.29 | 88.00/23.90 |
Pure GNSS | 10.53/\(\times\) | 7.47/\(\times\) | 4.85/\(\times\) | 9.01/\(\times\) | 15.26/\(\times\) |
GNSS-MSCKF | 9.88/4.65 | 25.44/3.90 | 8.33/6.18 | 10.88/5.21 | 10.41/5.12 |
VINS-Fusion | 39.63/27.52 | 23.47/18.17 | 6.79/14.65 | 5.25/27.6 | 10.28/27.93 |
Ours | 6.92/5.01 | 4.46/4.73 | 2.65/6.59 | 3.80/5.66 | 7.89/6.34 |