Table 7.

The name for method definition table.

Method Name	The Special Content
Original SIFT_RGB-D_SLAM	Original SIFT+ Original matching + Original RANSAC+ Original ICP+ Original back-end
Original SURF_RGB-D_SLAM	Original SURF+ Original matching + Original RANSAC+ Original ICP+ Original back-end
Original ORB_RGB-D_SLAM	Original ORB+ Original matching + Original RANSAC+ Original ICP+ Original back-end
Improved SIFT_RGB-D_SLAM	Improved SIFT+ Improved matching + Improved RANSAC+ Improved ICP+ Original back-end
Improved SURF_RGB-D_SLAM	Improved SURF+ Improved matching + Improved RANSAC+ Improved ICP+ Original back-end
Improved ORB_RGB-D_SLAM	Improved ORB+ Improved matching + Improved RANSAC+ Improved ICP+ Original back-end