APE	Absolute pose error
RPE	Relative pose error
RANSAC	RANdom SAmple Consensus
SLAM	Simultaneous localization and mapping
VSLAM	Visual simultaneous localization and mapping system
ROS	Robot Operating System
GT	Ground truth
KITTI	Karlsruhe Institute of Technology and Toyota Technological Institute
VINS	Visual–inertial navigation systems
VDO	Visual Dynamic Object-aware
TANDEM	Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo
TSDF	Truncated signed distance function
GMM	Gaussian mixture model
CIOU	Complete Intersection over Union