Research on the Application of Visual SLAM in Embedded GPU

Table 9

The absolute error between the trajectory estimated by the visual SLAM algorithm with GPU acceleration and the actual value.

Dataset	With GPU acceleration
	Mean (m)	Median (m)	RMSE (m)	STD (m)
MH_01_easy	0.249	0.245	0.284	0.136
MH_02_easy	0.284	0.278	0.313	0.132
MH_03_medium	0.431	0.401	0.499	0.252
MH_04_difficult	0.448	0.439	0.513	0.250
MH_05_difficult	0.421	0.396	0.487	0.245