Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed Features

Chinese Journal of Mechanical Engineering

Table 2 Results of method comparison based on ATE RMSE (m)

Sequences	PL-SVO	ORB-VO	PLWM-VO without SAD	PLWM-VO
Kitti00	13.58	8.35	6.56	6.47
Kitti01	150.53	180.47	110.72	106.56
Kitti02	58.29	19.73	16.37	15.60
Kitti03	13.51	2.66	2.42	2.38
Kitti04	2.31	2.15	1.78	1.69
Kitti05	7.23	4.33	3.53	3.20
Kitti06	11.53	12.37	11.51	11.12
Kitti07	10.38	3.66	4.32	4.24
Kitti08	25.34	11.57	8.89	8.71
Kitti09	11.54	8.57	7.26	7.29
Kitti10	9.58	8.34	6.85	6.64
V101	0.85	0.51	0.33	0.29
V102	1.26	0.73	0.42	0.39
V103	1.83	1.55	1.41	1.38
V201	0.51	0.59	0.43	0.38
V202	0.97	0.86	0.50	0.45
V203	X	X	2.15	1.93