Table 6.

Absolute trajectory error RMSE in m.

Sequence	VISO2-S [10]	S-PTAM [15]	Our Method
00	29.54	7.66	13.47
01	66.39	203.37	227.51
02	34.41	19.81	11.35
03	1.72	10.13	1.08
04	0.83	1.03	0.96
05	21.62	2.72	1.73
06	11.21	4.10	3.04
07	4.36	1.78	5.84
08	47.84	4.93	9.48
09	89.65	7.15	5.89
10	49.71	1.96	3.16
mean	32.48	24.06	25.77
mean(w/o 01)	29.09	6.13	5.60