序列 | ORB-SLAM2算法 | 本文算法 | 时间差值 | ||
跟踪线程/s | 长度/m | 跟踪线程/s | 长度/m | ||
fr1/xyz | 16.486 | 5.744 | 15.1884 | 5.790 | 1.2976 |
fr1/desk | 12.3908 | 8.909 | 11.3556 | 9.213 | 1.0352 |
fr3/s/halfs | 23.2259 | 6.349 | 21.2458 | 6.604 | 1.9801 |
fr3/s/xyz | 23.7065 | 3.112 | 22.2176 | 4.204 | 1.4889 |
fr3/w/halfs | 18.2497 | 3.718 | 18.2065 | 6.849 | 0.0432 |
fr3/w/xyz | 14.0324 | 2.319 | 13.9686 | 4.240 | 0.0638 |