Pose Estimation of a Noncooperative Target Based on Monocular Visual SLAM

Table 1

Calculated values and errors of the three models under different rotation angles (10 frames per degree).

Angle (°)	Calculated value (°)	RMS error (°)	Absolute error (°)	Fractional error (%)
Model (a): no textures_3 components
90	86.35	2.42	3.65	4.06
180	171.83	5.28	8.17	4.54
360	357.64	4.48	2.36	0.66
450	439.84	4.21	10.16	2.26
Model (b): rough textures_3 components
90	87.17	1.77	2.83	3.14
180	177.99	1.18	2.01	1.12
360	351.59	4.59	8.41	2.34
450	443.01	4.22	6.99	1.55
Model (c): rough textures_5 components
90	89.40	0.29	0.60	0.67
180	178.94	0.63	1.06	0.59
360	350.62	1.37	9.38	2.61
450	434.34	6.69	15.66	3.48