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ROBOMECH Journal

Table 13 Performance comparison of RTAB-Map (RGB-D) under different illumination conditions and setup patterns

From: Dataset creation and selection methods with a wire drive flexible manipulator for vision-based reconstruction

RGB-D

Metric (%)

Bright

Dark

Mounted

Setup pattern 1

Accuracy

76.7

–

62.1

Completeness

50.4

–

40.6

Setup pattern 2

Accuracy

74.9

–

50.7

Completeness

44.2

–

42.4

Setup pattern 3

Accuracy

74.1

–

44.6

Completeness

49.1

–

38.9

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