Loop Closure Detection Based on Differentiable Manifold

Table 3

freiburg3_long_office_household dataset y-axis direction error.

Methods	Maximum error (m)	Minimum error (m)	Average error (m)	ATE (m)	RPE (m)	Keyframe (N)
ORB_SLAM2	0.1466	0.0001	0.0203	0.0234	0.0183	204
	0.1401	0.0002	0.0178	0.0231	0.0196	3
our_method	0.1063	0.0001	0.0174	0.0238	0.0185	4
	0.1675	0.0005	0.0272	0.03997	0.0186	5

The units in the table are meters.