Loop Closure Detection Based on Differentiable Manifold

Table 2

rgbd_dataset_freiburg1_room dataset z-axis direction error.

Methods	Maximum error (m)	Minimum error (m)	Average error (m)	ATE (m)	RPE (m)	Keyframe (M)
ORB_SLAM2	0.0773	0.0001	0.0144	0.0193	0.0135	180
	0.0720	0.0001	0.0130	0.0173	0.0106	6
our_method	0.2073	0.0002	0.0198	0.0341	0.0232	7
	0.0697	0.0001	0.0153	0.0215	0.0113	8

The units in the table are meters.