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Comparisons of the relative RMSE [m] improvement for SGC-VSLAM against the state-of-the-art system for the dynamic sequence of the TUM RGB-D dataset.
| Sequence | DS-SLAM | DynaSLAM | Detect-SLAM | SGC-VSLAM |
|---|---|---|---|---|
| w_xyz | 96.71% | 96.73% | 97.62% | 98.01% |
| w_static | 97.91% | 93.33% | — | 98.29% |
| w_rpy | 48.97% | 94.71% | — | 96.10% |
| w_half | 93.76% | 92.88% | 66.94% | 94.16% |
| s_half | — | 15% | -27.62 | 7.61% |
| s_static | 25.94% | — | — | 27.24% |
