Table 1.

Comparison of median (maximum) absolute trajectory error in mm for joint optimization on RGB-D sequences of the Freiburg Benchmark Dataset, best results in bold.

Datasets	Ours		3D-NDT		Warp		Fovis
	Median	Max	Median	Max	Median	Max	Median	Max
fr1_desk	2.2	9.7	47.8	26.6	6.2	147	6.3	34.2
fr2_xyz	1.2	9.1	14	18	2	8.8	1.9	9.9
fr3_nostruct. text. far	3.2	7	18.6	74.6	19.2	246	20.8	101.5