3D Visual SLAM Based on Multiple Iterative Closest Point

Table 1

Data from an artificial room and an office.

Object; name	Length (m)	Average; angle; velocity (deg/s)	Average; translation; velocity (m/s)	Frames	Translation; RMSE (m)	Rotation; RMSE (°)	Running; time (s)
Desk	3.12	51.37	0.24	127	0.041	1.27	75
Door	1.25	60.89	0.22	98	0.137	4.62	33
TV	1.32	63.7	0.13	103	0.092	3.86	47
Bed	2.81	57.23	0.16	142	0.104	4.03	70
Wall	13.28	20.31	0.35	552	0.125	4.49	528
Window	2.24	52.74	0.27	134	0.149	4.86	64
Chair	0.53	66.23	0.09	75	0.087	3.51	19
Bookshelf	1.78	59.61	0.15	169	0.218	8.34	42
Floor	18.27	18.94	0.39	832	0.019	0.43	519