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Performance of different localization approaches.
| Localization Method | Mean Error (m) | Max. Error (m) | Min. Error (m) | Standard Deviation of Error (m) |
|---|---|---|---|---|
| IMU | 0.1710 | 0.7528 | 0.0031 | 0.2088 |
| ORB-SLAM | 0.2669 | 1 | 0 | 0.3150 |
| UcoSLAM | 0.0617 | 0.5120 | 0 | 0.0685 |
| ORB-SLAM + IMU | 0.1398 | 0.4996 | 0.0011 | 0.1375 |
| UcoSLAM + IMU | 0.0690 | 0.1985 | 0 | 0.0532 |
