TABLE 2.
The RMSE of Relative Pose Error (RPE) averaged over TUM RGB-D (Sturm et al., 2012) fr1 and fr3 structure v.s texture sequences. The t columns show the RMSE of the translational drift in m/sec and the r columns show the RMSE of the rotational error in deg /sec. The RMSE is averaged over all sequences.
| fr1 | fr3 structure v.s texture | |||
|---|---|---|---|---|
| t (m/sec) | r (deg /sec) | t (m/sec) | r (deg /sec) | |
| Geometric Registration (Proposed) | 0.0730 | 2.3805 | 0.0794 | 2.8536 |
| GICP Segal et al. (2009) | 0.4034 | 15.8838 | 0.2116 | 5.2979 |
| 3D-NDT Magnusson et al. (2007) | 0.2290 | 14.0311 | 0.2487 | 6.9860 |
| Robust-ICP Zhang et al. (2022) | 0.1487 | 6.6911 | 0.2091 | 5.4168 |
| Color Registration (Proposed) | 0.0545 | 2.4333 | 0.0754 | 2.6651 |
| DVO Kerl et al. (2013) | 0.0623 | 2.6943 | 0.1386 | 4.9843 |
| Color ICP Park et al. (2017) | 0.1353 | 5.8985 | 0.0820 | 2.2041 |