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ROBOMECH Journal

Table 3 Comparison results of visual odometry and 3D scanner under simulated routes

From: Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view-

Result type

x-direction displacement (mm)

y-direction displacement (mm)

Orientation (degree)

Visual odometry-1

3043

3022

− 117.2

3D scanner measuring-1

3025

3180

− 126.9

Visual odometry-2

3134

3122

− 127.2

3D scanner measuring-2

3146

3226

− 129.1

Visual odometry-3

3249

3130

− 133.9

3D scanner measuring-3

3192

3041

− 134.2

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