Loop Closure Detection Based on Differentiable Manifold

Table 1

rgbd_dataset_freiburg1_room dataset y-axis direction error.

Methods	Maximum error (m)	Minimum error (m)	Average error (m)	ATE (m)	RPE (m)	Keyframe (N)
ORB_SLAM2	0.0900	0.0008	0.0670	0.0557	0.0125	180
	0.0888	0.0003	0.0296	0.0365	0.1045	3
our_method	0.1417	0.0001	0.0329	0.0410	0.0089	4
	0.1332	0.0001	0.0335	0.0423	0.1184	5

The units in the table are meters.