\begin{tabular}{c | c | c | c | c}
{\bf Method} & {\bf Setting} & {\bf Translation} & {\bf Rotation} & {\bf Runtime}\\ \hline
V-LOAM & la & 0.57 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
IMLS-SLAM++ & la & 0.61 \% & 0.0014 [deg/m] & 1.3 s / 1 core \\
LOAM & la & 0.61 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
SOFT2 & st & 0.65 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
IMLS-SLAM & la & 0.69 \% & 0.0018 [deg/m] & 1.25 s / 1 core \\
MC2SLAM & la & 0.69 \% & 0.0016 [deg/m] & 0.1 s / 4 cores \\
ESO & st & 0.80 \% & 0.0026 [deg/m] & 0.08 s / 4 cores \\
sGAN-VO & & 0.81 \% & 0.0025 [deg/m] & 0.1 s / 1 core \\
LG-SLAM & st & 0.82 \% & 0.0020 [deg/m] & 0.2 s / 4 cores \\
RotRocc+ & st & 0.83 \% & 0.0026 [deg/m] & 0.25 s / 2 cores \\
LIMO2\_GP & la & 0.84 \% & 0.0022 [deg/m] & 0.2 s / 2 cores \\
GDVO & st & 0.86 \% & 0.0031 [deg/m] & 0.09 s / 1 core \\
LIMO2 & la & 0.86 \% & 0.0022 [deg/m] & 0.2 s / 2 cores \\
CPFG-slam & la & 0.87 \% & 0.0025 [deg/m] & 0.03 s / 4 cores \\
SOFT & st & 0.88 \% & 0.0022 [deg/m] & 0.1 s / 2 cores \\
RotRocc & st & 0.88 \% & 0.0025 [deg/m] & 0.3 s / 2 cores \\
scan-to-map PNDT-D2D & la & 0.89 \% & 0.0030 [deg/m] & 0.5 s / 4 cores \\
DVSO & & 0.90 \% & 0.0021 [deg/m] & 0.1 s / GPU \\
LIMO & la & 0.93 \% & 0.0026 [deg/m] & 0.2 s / 2 cores \\
Stereo DSO & st & 0.93 \% & 0.0020 [deg/m] & 0.1 s / 1 core \\
MLG-SLAM & la & 0.96 \% & 0.0034 [deg/m] & 0.5 s / 1 core \\
Elbrus & st & 0.98 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
ROCC & st & 0.98 \% & 0.0028 [deg/m] & 0.3 s / 2 cores \\
S4ICP-SLAM & la & 1.00 \% & 0.0048 [deg/m] & 0.1 s / 1 core \\
S4OM & la & 1.03 \% & 0.0053 [deg/m] & 0.15 s / 1 core \\
ElbrusFast2 & st & 1.08 \% & 0.0027 [deg/m] & 0.02 s / 2 cores \\
cv4xv1-sc & st & 1.09 \% & 0.0029 [deg/m] & 0.145 s / GPU \\
FPVO & st & 1.10 \% & 0.0023 [deg/m] & 0.08 s / 4 cores \\
MonoROCC & st & 1.11 \% & 0.0028 [deg/m] & 1 s / 2 cores \\
ISRI\_VO & & 1.13 \% & 0.0030 [deg/m] & 0.1 s / 1 core \\
DEMO & la & 1.14 \% & 0.0049 [deg/m] & 0.1 s / 2 cores \\
ORB-SLAM2 & st & 1.15 \% & 0.0027 [deg/m] & 0.06 s / 2 cores \\
NOTF & st & 1.17 \% & 0.0035 [deg/m] & 0.45 s / 1 core \\
FSMVO & & 1.18 \% & 0.0022 [deg/m] & 0.1 s / 1 core \\
S-PTAM & st & 1.19 \% & 0.0025 [deg/m] & 0.03 s / 4 cores \\
S-LSD-SLAM & st & 1.20 \% & 0.0033 [deg/m] & 0.07 s / 1 core \\
VoBa & st & 1.22 \% & 0.0029 [deg/m] & 0.1 s / 1 core \\
STEAM-L WNOJ & la & 1.22 \% & 0.0058 [deg/m] & 0.2 s / 1 core \\
LiViOdo & la & 1.22 \% & 0.0042 [deg/m] & 0.5 s / 1 core \\
VOOA & & 1.24 \% & 0.0027 [deg/m] & 0.03 s / 2 cores \\
SLUP & st & 1.25 \% & 0.0041 [deg/m] & 0.17 s / 4 cores \\
STEAM-L & la & 1.26 \% & 0.0061 [deg/m] & 0.2 s / 1 core \\
FRVO & st & 1.26 \% & 0.0038 [deg/m] & 0.03 s / 1 core \\
RTAB-Map & st & 1.26 \% & 0.0026 [deg/m] & 0.1 s / 1 core \\
ORBVB & & 1.26 \% & 0.0029 [deg/m] & 0.06 s / 2 cores \\
MIGP & & 1.28 \% & 0.0022 [deg/m] & 0.2 s / 2 cores \\
MFI & st & 1.30 \% & 0.0030 [deg/m] & 0.1 s / 1 core \\
ORVO & & 1.34 \% & 0.0037 [deg/m] & 0.04 s / 1 core \\
TLBBA & st & 1.36 \% & 0.0038 [deg/m] & 0.1 s / 1 Core \\
2FO-CC & st & 1.37 \% & 0.0035 [deg/m] & 0.1 s / 1 core \\
SuMa & la & 1.39 \% & 0.0034 [deg/m] & 0.1 s / 1 core \\
ProSLAM & st & 1.42 \% & 0.0034 [deg/m] & 0.02 s / 1 core \\
SCSDVO & & 1.44 \% & 0.0043 [deg/m] & 1 s / 1 core \\
DQV-SLAM & st & 1.47 \% & 0.0051 [deg/m] & 0.2 s / 2 cores \\
StereoSFM & st & 1.51 \% & 0.0042 [deg/m] & 0.02 s / 2 cores \\
SSLAM & st & 1.57 \% & 0.0044 [deg/m] & 0.5 s / 8 cores \\
ICP SLAM & la & 1.61 \% & 0.0061 [deg/m] & 0.1 s / 1 core \\
eVO & st & 1.76 \% & 0.0036 [deg/m] & 0.05 s / 2 cores \\
Stereo DWO & st & 1.76 \% & 0.0026 [deg/m] & 0.1 s / 4 cores \\
BVO & & 1.76 \% & 0.0036 [deg/m] & 0.1 s / 1 core \\
D6DVO & st & 2.04 \% & 0.0051 [deg/m] & 0.03 s / 1 core \\
PMO / PbT-M2 & & 2.05 \% & 0.0051 [deg/m] & 1 s / 1 core \\
SSLAM-HR & st & 2.14 \% & 0.0059 [deg/m] & 0.5 s / 8 cores \\
FTMVO & & 2.24 \% & 0.0049 [deg/m] & 0.11 s / 1 core \\
PbT-M1 & & 2.38 \% & 0.0053 [deg/m] & 1 s / 1 core \\
VISO2-S & st & 2.44 \% & 0.0114 [deg/m] & 0.05 s / 1 core \\
MLM-SFM & & 2.54 \% & 0.0057 [deg/m] & 0.03 s / 5 cores \\
GT\_VO3pt & st & 2.54 \% & 0.0078 [deg/m] & 1.26 s / 1 core \\
RMCPE+GP & & 2.55 \% & 0.0086 [deg/m] & 0.39 s / 1 core \\
VO3pt & st & 2.69 \% & 0.0068 [deg/m] & 0.56 s / 1 core \\
TGVO & st & 2.94 \% & 0.0077 [deg/m] & 0.06 s / 1 core \\
VO3ptLBA & st & 3.13 \% & 0.0104 [deg/m] & 0.57 s / 1 core \\
PLSVO & st & 3.26 \% & 0.0095 [deg/m] & 0.20 s / 2 cores \\
BLF & & 3.49 \% & 0.0128 [deg/m] & 0.7 s / 1 core \\
CFORB & st & 3.73 \% & 0.0107 [deg/m] & 0.9 s / 8 cores \\
VOFS & st & 3.94 \% & 0.0099 [deg/m] & 0.51 s / 1 core \\
ISRI\_SVO & st & 4.00 \% & 0.0050 [deg/m] & 1 s / 1 core \\
VOFSLBA & st & 4.17 \% & 0.0112 [deg/m] & 0.52 s / 1 core \\
CUDA-EgoMotion & & 4.36 \% & 0.0052 [deg/m] & .001 s / GPU \\
BCC & & 4.59 \% & 0.0175 [deg/m] & 1 s / 1 core \\
DLO & la & 5.32 \% & 0.0213 [deg/m] & 2 min / 1 core \\
EB3DTE+RJMCM & & 5.45 \% & 0.0274 [deg/m] & 1 s / 1 core \\
LVT & st & 5.80 \% & 0.0065 [deg/m] & 0.02 s / 2 cores \\
VISO2-M + GP & & 7.46 \% & 0.0245 [deg/m] & 0.15 s / 1 core \\
unscene & & 8.68 \% & 0.0227 [deg/m] & 0.1 s / GPU \\
BLO & & 9.21 \% & 0.0163 [deg/m] & 0.1 s / 1 core \\
VISO2-M & & 11.94 \% & 0.0234 [deg/m] & 0.1 s / 1 core \\
MTL & la & 14.95 \% & 0.0115 [deg/m] & 0.1 s / 1 core \\
OABA & & 20.95 \% & 0.0135 [deg/m] & 0.5 s / 1 core \\
DeepVO & & 24.55 \% & 0.0489 [deg/m] & 1 s / 1 core
\end{tabular}