Table 2.

Experimental results of the relative displacement trajectory error.

Sequences	ORB-SLAM2		Improved SLAM System
			SGC-VSLAM(IQ)		IMPROVEMENT		SGC-VSLAM		IMPROVEMENT
	rmse	std	rmse	std	rmse	std	rmse	std	rmse	std
w_xyz	1.1812	0.6880	0.2484	0.1807	78.97	73.73	0.0222	0.0099	98.12	98.56
w_static	0.5819	0.3783	0.0169	0.0112	97.10	97.05	0.0107	0.0050	98.15	98.69
w_rpy	1.0238	0.5399	0.6167	0.3392	39.77	37.17	0.0404	0.0237	96.05	95.62
w_half	0.6711	0.3794	0.1460	0.1184	78.25	68.79	0.0365	0.0167	94.56	95.60
s_half *	0.0256	0.0153	0.0240	0.0146	6.37	4.45	0.0233	0.0143	8.82	6.49
s_static *	0.0151	0.0073	0.0116	0.0056	22.69	22.18	0.0115	0.0055	23.65	23.55

* represents low dynamic sequence.