Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking

Table 7

Vins-Mono and ORB-SLAM2: APE RMSE results on EuRoC with loop closure disabled. Results with loop closure enabled are recalled in brackets [].

APE RMSE (cm)	Vins-Mono no loop	ORB-SLAM2 no loop
Machine Hall 01	15.3 (0.4%) [8.46]	4.62 (1.4%) [4.38]
Machine Hall 03	19.4 (0.1%) [9.51]	3.90 (0.7%) [3.89]
Machine Hall 05	29.3 (0.1%) [17.39]	165 (54%) [5.31]