Table 3.

Translational drift (RPE) in m/s for the experiments using ORB-SLAM2, MR-SLAM, SMR-SLAM, and Ours.

Data sets	ORB-SLAM2		MR-SLAM		SMR-SLAM		Ours
	RMSE	S.D.	RMSE	S.D.	RMSE	S.D.	RMSE	S.D.
w_halfsphere	0.8078	0.4958	0.0611	0.0268	0.0816	0.0419	0.0539	0.0301
w_xyz	0.6181	0.3778	0.0668	0.0369	0.0337	0.0162	0.0470	0.0227
w_rpy	1.5083	0.9031	0.0968	0.0510	0.0337	0.0162	0.0214	0.0134
w_static	0.5436	0.3783	0.0307	0.0205	0.0829	0.0479	0.0276	0.0165
s_halfsphere	0.0326	0.0198	0.0547	0.0318	0.0307	0.0183	0.0654	0.0429
s_xyz	0.0132	0.0063	0.0357	0.0225	0.0242	0.0106	0.0363	0.0167
desk_person	0.0383	0.0228	0.0213	0.0151	0.0369	0.0213	0.0121	0.0646

Bold values mean the best result among the methods.