Image Antiblurring and Statistic Filter of Feature Space Displacement: Application to Visual Odometry for Outdoor Ground Vehicle

Table 4

Absolute trajectory error RMSE (m).

Sequence	Environment	Distances	VISO2	ORB-VISO2	ORB-SLAM2	Our-method1	Our-method2
KITTI 00	Urban	3714 m	30.133	29.430	1.328	21.016	0.673
KITTI 01	Highway	4268 m	51.430	X	10.936	45.595	4.391
KITTI 02	Urban + country	5075 m	36.441	26.831	5.534	23.185	5.412
KITTI 03	Country	563 m	2.570	2.339	0.619	2.146	0.309
KITTI 04	Country	397 m	1.483	1.3230	0.223	1.190	0.114
KITTI 05	Urban	2223 m	13.653	12.287	0.846	11.740	0.337
KITTI 06	Urban	1239 m	4.318	3.917	0.758	3.757	0.302
KITTI 07	Urban	695 m	5.561	5.017	0.554	4.800	0.221
KITTI 08	Urban + country	3225 m	20.289	X	3.660	17.464	1.470
KITTI 09	Urban + country	1717 m	19.581	16.298	3.427	15.986	1.373
KITTI 10	Urban + country	919 m	4.367	3.812	1.165	3.593	0.468