Table 1.

The number of frames and the average translation and rotation velocities of the used datasets.

Dataset	Number of Frames	Average Translational Velocity (m/s)	Average Rotational Velocity (deg/s)
fr1 xyz	780	0.24	8.92
fr1 desk	595	0.41	23.33
fr1 360	739	0.21	41.6
fr1 desk2	631	0.43	29.31
fr2 xyz	3,594	0.06	1.72
fr2 desk	2,234	0.19	6.34
fr3 structure and texture	904	0.193	4.323
fr3 no structure and no texture	451	0.196	2.712
fr3 no structure and texture	447	0.299	2.890
fr3 structure and no texture	791	0.166	4.00