Table 2.

Comparison of proposed method vs. monocular and stereo-based VISO2 and MagicVO. • t: average translation drift (%) on length of 100–800 m. • r: average rotation drift (°/100 m) on length of 100–800 m.

Seq.	Proposed		Proposed (LSTM)		VISO2_M		VISO2_S		MagicVO
	t (%)	r (°)	t (%)	r (°)	t (%)	r (°)	t (%)	r (°)	t (%)	r (°)
03	4.85	2.54	9.82	3.64	10.57	1.73	2.94	1.09	4.95	2.44
05	2.89	1.22	3.03	1.23	19.02	4.21	2.40	1.15	1.63	2.25
07	2.56	2.15	6.43	3.39	34.16	9.98	2.67	1.61	2.61	1.08
09	2.54	0.90	5.05	1.90	5.76	1.05	2.86	1.14	5.43	2.27
Avg.	3.21	1.70	6.08	2.54	17.38	4.24	2.72	1.25	3.66	2.01