Table 7 Table of accuracy evaluation of SLAM system on KITTI dataset.
From: A visual SLAM loop closure detection method based on lightweight siamese capsule network
| Â | Methods | |
|---|---|---|
OURS | ORB-SLAM2 | |
ATE | ATE | |
00 | 1.3 | 1.4 |
00 (aug) | 1.6 | 1.7 |
01 | 11.2 | 11.4 |
01 (aug) | 12.9 | 13.5 |
02 | 5.8 | 5.8 |
02 (aug) | 6.1 | 6.3 |
03 | 0.7 | 0.7 |
03 (aug) | 0.7 | 0.8 |
04 | 0.2 | 0.2 |
04 (aug) | 0.3 | 0.3 |
05 | 0.8 | 0.9 |
05 (aug) | 1.0 | 1.2 |
