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ROBOMECH Journal

Table 14 Performance comparison of RTAB-Map (Stereo IR + IMU) under different illumination conditions and setup patterns

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

Stereo IR + IMU

Metric (%)

Bright

Dark

Mounted

Setup pattern 1

Accuracy

70.1

45.1

50.1

Completeness

43.6

13.4

37.1

Setup pattern 2

Accuracy

64.9

42.6

46.7

Completeness

38.4

18.2

30.2

Setup pattern 3

Accuracy

64.7

47.4

41.6

Completeness

49.8

9.1

37.9

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