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

Table 5

Overall RMSE and end-point error, corresponding to Figure 11(a).

Error	VISO2	ORB-VISO2	ORB-SLAM2	Our-method1	Our-method2
Overall position RMSE (m)	X	X	9.006	34.961	5.750
Overall orientation RMSE (deg)	X	X	0.108	0.489	0.060
End-point position error (m)	X	X	2.927	87.788	1.175
End-point orientation error (deg)	X	X	0.434	2.506	0.358