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Chen et al. Intell Robot 2024;4:179-95  I http://dx.doi.org/10.20517/ir.2024.11     Page 189







































               Figure 6. The comparison results with the Open3D’s built-in ICP algorithm. The purple dashed curves represent the estimated camera
               trajectory with the Open3D’s built-in ICP algorithm (denoted as VO Open3D). 3D: Three-dimensional; ICP: Iterative Closest Point.







































                                      Figure 7. The absolute trajectory error results on the higher staircase.
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