Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching

Table 1

Position RMSE comparison (m).

	Method in this paper	ORB SLAM	CV-SLAM
Corridor 1 (left)	0.144	0.086	0.123
Corridor 2 (right)	0.159	0.117	0.245
Room 1 (left)	0.468	2.026	0.358
Room 2 (right)	0.483	2.665	0.546