序列	ORB-SLAM2算法			本文算法			RMSE提升百分比
序列	RMSE	Mean	STD	RMSE	Mean	STD	RMSE提升百分比
fr1/desk	0.0156	0.0131	0.0085	0.0125	0.0104	0.0069	19.97%
fr1/xyz	0.0094	0.0086	0.0038	0.0079	0.0055	0.0044	15.95%
fr3/s/half	0.0165	0.0136	0.0095	0.0124	0.0102	0.0072	24.85%
fr3/s/xyz	0.0085	0.0074	0.0042	0.0069	0.0062	0.0029	18.82%
fr3/w/half	0.0229	0.0188	0.0115	0.0155	0.0136	0.0072	32.31%
fr3/w/xyz	0.0190	0.0151	0.0115	0.0072	0.0062	0.0036	62.10%