Table 12 Translational RPE RMSE for several variants of SDMFusion (Monocular) (m).

Sequence	w/o Depth		w/o Segment		w/o Check		w/o Spatial-Reclass		Full
Sequence	Mean	S.D.	Mean	S.D.	Mean	S.D.	Mean	S.D.	Mean	S.D.
fr2_desk_with_person	1.9399	0.129	0.4193	0.0028	0.4276	0.0014	0.3780	0.0078	0.3706	0.0030
fr3_sitting_halfsphere	0.5130	0.1337	0.4731	0.0088	0.2113	0.0335	0.2051	0.0086	0.2024	0.0062
fr3_sitting_rpy	0.1055	0.0025	0.0723	0.0044	0.087	0.0078	0.0878	0.0061	0.0814	0.0049
fr3_sitting_static	0.0552	0.0053	0.0283	0.0012	0.0228	0.0022	0.0250	0.0005	0.0215	0.0007
fr3_sitting_xyz	0.4981	0.0085	0.1912	0.0046	0.1309	0.0035	0.1415	0.0022	0.1286	0.0051
fr3_walking_halfsphere	0.7591	0.0145	0.6636	0.7011	0.1693	0.0029	0.1752	0.0042	0.1622	0.0027
fr3_walking_rpy	0.2893	0.0469	1.5912	0.0986	0.2481	0.1038	0.2546	0.0418	0.1094	0.0135
fr3_walking_static	0.0408	0.0021	0.8098	0.0499	0.0149	0.0031	0.0128	0.0005	0.0122	0.0004
fr3_walking_xyz	0.4358	0.0379	0.7343	0.2691	0.1334	0.0029	0.1365	0.0035	0.1181	0.0036

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