Research Article
Loop Closure Detection Based on Differentiable Manifold
Table 4
freiburg3_long_office_household dataset z-axis direction error.
| Methods | Maximum error (m) | Minimum error (m) | Average error (m) | ATE (m) | RPE (m) | Keyframe (M) |
| ORB_SLAM2 | 0.1466 | 0.0001 | 0.0622 | 0.0780 | 0.1068 | 204 | 0.1727 | 0.0001 | 0.0364 | 0.0262 | 0.1691 | 6 |
| our_method | 0.1490 | 0.0001 | 0.0154 | 0.0332 | 0.0141 | 7 | 0.1564 | 0.0002 | 0.0146 | 0.0314 | 0.0133 | 8 |
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The units in the table are meters.
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