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

Table 6

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

Error	VISO2	ORB-VISO2	ORB-SLAM2	Our-method1	Our-method2
Overall position RMSE (m)	X	X	X	54.961	4.438
Overall orientation RMSE (deg)	X	X	X	0.616	0.079
End-point position error (m)	X	X	X	48.875	1.964
End-point orientation error (deg)	X	X	X	2.464	0.297