A Lightweight Stereo Visual Odometry System for Navigation of Autonomous Vehicles in Low-Light Conditions

Table 2

Comparison of accuracy and memory in the 4Seasons dataset.

Scenes	Sequences	Number of images	ORB-SLAM2		Ours
			RMSE (m)	MEMORY (GiB)	RMSE (m)	MEMORY (MiB)
OLD TOWN	2021-01-07-10-49-45	24629	0.084	4.9	0.079	66.2
	2021-05-10-21-32-00	24658			0.605	71.8
	2020-10-08-11-53-41	28999	0.053	3.5	0.044	79.1
COUNTRYSIDE	2021-01-07-13-30-07	14729	0.111	3.8	0.115	48.3
OFFICE LOOP	2021-01-07-12-04-03	13746	0.034	2.2	0.034	51.2
BUSINESS CAMPUS	2021-01-07-13-12-23	12023	0.064	1.3	0.064	24.3
NEIGHBORHOOD	2021-05-10-18-02-12	11674	0.036	1.6	0.034	43.4
	2021-05-10-18-32-32	10760	0.037	1.6	0.034	44.0
	2020-12-22-11-54-24	9775	0.057	2.8	0.056	40.1
PARKING GARAGE	2021-05-10-19-15-19	5257	0.069	1.0	0.063	35.9
	2020-12-22-12-04-35	7793	0.050	1.5	0.029	31.1
AVERAGE ^1			0.059	2.4	0.055	46.4

This symbol means the algorithm failed to work. ¹The AVERAGE represents a sequence without trace failure.