Research on the Application of Visual SLAM in Embedded GPU

Table 8

The absolute error between the trajectory estimated by the visual SLAM algorithm without GPU acceleration and the actual value.

Dataset	Without GPU acceleration
	Mean (m)	Median (m)	RMSE (m)	STD (m)
MH_01_easy	0.228	0.225	0.256	0.116
MH_02_easy	0.280	0.272	0.308	0.129
MH_03_medium	0.423	0.397	0.492	0.250
MH_04_difficult	0.424	0.417	0.489	0.243
MH_05_difficult	0.409	0.387	0.477	0.246