An Expository Examination of Temporally Evolving Graph-Based Approaches for the Visual Investigation of Autonomous Driving

Table 2

Average error of the three algorithms in all scenarios.

Category	Evaluation indicator	Translation error			Rotation error
		FD	V-LOAM	Proposed	FD	V-LOAM	Proposed
APE	Standard deviation	121.14	28.76	20.99	0.005	0.008	0.006
	Root mean square	312.44	38.38	34.18	0.325	0.174	0.155
	Mean value	286.66	32.98	26.99	0.313	0.188	0.146
RPE	Standard deviation	1.12	0.33	0.14	0.005	0.004	0.002
	Root mean square	1.83	0.57	0.26	0.006	0.008	0.003
	Mean value	1.48	0.25	0.09	0.004	0.006	0.002