| 算法 | 起点(x, y) | 终点(x, y) | 回环误差 |
| Cartographer (无点云畸变矫正) | (0, 0) | (−5.6401, 1.9980) | 5.9835 |
| Cartographer (基于匀速预测模型的点云畸变矫正) | (0, 0) | (2.0273, 0.0918) | 2.0294 |
| Cartographer (融合轮式里程计的点云畸变矫正) | (0, 0) | (0.3429, 0.1767) | 0.3858 |