We compare 3 different SLAM algorithms on EuRoC datasets.


As for estimation accuracy, we can see that all SLAM algorithms can improve the accuracy upon the visual-inertial odometry VIO output. The optimization SLAM has the most consistent result, while all SLAM algorithms have comparable performance.


In terms of the processing time, the BOEM SLAM uses far less time to reach the comparable performance. Overall, the processing time increases with the duration of the trajectory, and EM SLAM and BOEM reflect this trend. For optimization SLAM, the optimization converges early in datasets MH 02 and 03. However, while the optimization does not converge early, it takes the longest time.

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