Table 2.

Boosting results of SOLO-SLAM relative to other algorithms.

Sequences	Improvements against ORB-SLAM3		Improvements against Dyna-SLAM		Improvements against DS-SLAM		Improvements against Detect-SLAM
	Mean	RMSE	Mean	RMSE	Mean	RMSE	Mean	RMSE
fr3_w_xyz	97.46%	97.63%	10.22%	24.13%	-	22.24%	85.11%	67.18%
fr3_w_static	96.48%	96.16%	−27.86%	−28.40%	-	-	77.67%	49.51%
fr3_w_rpy	83.46%	81.32%	76.27%	73.12%	-	59.65%	50.69%	25.56%
fr3_w_hs	91.89%	91.30%	7.00%	8.78%	-	46.23%	83.02%	65.75%
fr3_s_hs	37.84%	43.55%	13.91%	13.74%	-	50.55%	-	-