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Table 1 Comparison of representative algorithms

From: Visual SLAM algorithms: a survey from 2010 to 2016

  Method Map density Global optimization Loop closure
Mono-SLAM [26] Feature Sparse No No
PTAM [15] Feature Sparse Yes No
ORB-SLAM [38] Feature Sparse Yes Yes
DTAM [43] Direct Dense No No
LSD-SLAM [21] Direct Semi-dense Yes Yes
SVO [51] Semi-direct Sparse No No
DSO [53] Direct Sparse No No
KinectFusion [57] RGB-D Dense No No
Dense visual SLAM [23] RGB-D Dense Yes Yes
ElasticFusion [66] RGB-D Dense Yes Yes
SLAM++ [60] RGB-D Dense Yes Yes