Research Article

Loop Closure Detection Based on Differentiable Manifold

Table 4

freiburg3_long_office_household dataset z-axis direction error.

MethodsMaximum error (m)Minimum error (m)Average error (m)ATE (m)RPE (m)Keyframe (M)

ORB_SLAM20.14660.00010.06220.07800.1068204
0.17270.00010.03640.02620.16916

our_method0.14900.00010.01540.03320.01417
0.15640.00020.01460.03140.01338

The units in the table are meters.