Research Article
Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking
Table 4
Datasets chosen for our benchmarking.
| | Dataset | Difficulty | Characteristics |
| | Machine Hall 01 | Easy | Low velocity, well textured, good illumination, 80.6 m (182 s) | | Machine Hall 03 | Medium | High velocity, well textured, good illumination, 130.9 m (132 s) | | Machine Hall 05 | Difficult | High velocity, poorly textured, bad illumination, 97.6 m (111 s) | | IRSTV | Difficult | Low velocity, well textured and poorly textured part, illumination changes (outdoor and indoor parts), 466 m (390 s) |
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