Figure 6.

Trajectories estimated by the four proprietary VIO systems in the long U-shaped corridor (left) and open hallway space (right) sequences. We started and ended at the same point, which is marked with a black circle, to evaluate the loop-closing performance of the tested commercial VIO systems. The 90° and 180° turns gauged the ability of the VIO algorithms to handle rotations in the yaw direction. The estimated paths for ARKit (red) matched the building floor plan most consistently, and only the starting and ending points of ARKit nearly met; for the others, they did not.