Figure 5. Drift of the last pose compare to first pose

From

Monocular Visual SLAM for Underwater Navigation in Turbid and Dynamic Environments

Chinthaka Amarasinghe, Asanga Ratnaweera, Sanjeeva Maitripala

American Journal of Mechanical Engineering. 2020, 8(2), 76-87 doi:10.12691/ajme-8-2-5