Table 4.

Rotational 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	17.7267	10.2391	1.9004	0.7629	1.1556	0.5359	1.0076	0.4283
w_xyz	10.9428	7.1977	1.5950	0.8236	0.7473	0.4333	0.7427	0.4266
w_rpy	28.0287	17.3043	2.5936	1.3210	1.6024	0.9284	1.0777	0.5112
w_static	9.9384	6.9106	0.8998	0.6470	1.1366	0.6269	0.4823	0.2975
s_halfsphere	0.8217	0.3594	2.2677	1.3861	0.8038	0.3495	1.0254	0.4454
s_xyz	0.5775	0.3016	1.0362	0.5304	0.6905	0.3474	0.6601	0.2998
desk_person	1.4668	0.6857	0.7744	0.4767	1.3784	0.6742	1.4410	0.6932

Bold values mean the best result among the methods.