Research Article
Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking
Table 5
Relative pose error for each tested method on each dataset, averaged on five runs.
| | RPE (cm) | Vins-Mono | ORB-SLAM2 | DSO | ROVIO | LSD-SLAM | | () | () | () | () | () |
| | MH 01 (easy) | 2.99 (1.8%) | 3.14 (0.9%) | 2.98 (0.6%) | 9.98 (0.6%) | 6.32 (9.2%) | | MH 03 (medium) | 3.70 (0.8%) | 3.19 (1.0%) | 3.68 (2.4%) | 8.89 (0.0%) | — | | MH 05 (difficult) | 3.85 (0.9%) | 3.73 (0.5%) | 3.49 (0.4%) | 16.0 (0.0%) | 17.9 (9.9%) |
|
|
