\begin{tabular}{c | c | c | c | c}
{\bf Method} & {\bf Setting} & {\bf Translation} & {\bf Rotation} & {\bf Runtime}\\ \hline
SOFT2 & st & 0.53 \% & 0.0009 [deg/m] & 0.1 s / 4 cores \\
V-LOAM & la & 0.54 \% & 0.0013 [deg/m] & 0.1 s / 2 cores \\
LOAM & la & 0.55 \% & 0.0013 [deg/m] & 0.1 s / 2 cores \\
TVL-SLAM+ & st la & 0.56 \% & 0.0015 [deg/m] & 0.3 s / 1 core \\
GLIM & la & 0.59 \% & 0.0015 [deg/m] & 0.1 s / GPU \\
CT-ICP & la & 0.59 \% & 0.0014 [deg/m] & 0.06 s / 1 core \\
SDV-LOAM & la & 0.60 \% & 0.0015 [deg/m] & 0.05 s / 4 cores \\
TBD & & 0.61 \% & 0.0015 [deg/m] & 0.1 s / 1 core \\
CT-ICP-test & & 0.62 \% & 0.0015 [deg/m] & 0.06 s / 1 core \\
wPICP & la & 0.62 \% & 0.0015 [deg/m] & 0.1 s / 1 core \\
FBLO & la & 0.62 \% & 0.0014 [deg/m] & 1 s / 1 core \\
GLO & & 0.62 \% & 0.0015 [deg/m] & 0.1 s / 1 core \\
HMLO & la & 0.62 \% & 0.0014 [deg/m] & 0.2s / 1 core \\
FHMLO & & 0.63 \% & 0.0014 [deg/m] & 1 s / 1 core \\
filter-reg & la & 0.65 \% & 0.0016 [deg/m] & 0.01 s / GPU \\
SOFT-SLAM & st & 0.65 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
KISS-ICP & & 0.65 \% & 0.0021 [deg/m] & 0.03 s / >8 cores \\
MULLS & la & 0.65 \% & 0.0019 [deg/m] & 0.08 s / 4 cores \\
KISS-ICP & & 0.66 \% & 0.0018 [deg/m] & 0.03 s / >8 cores \\
LO-TEST & & 0.66 \% & 0.0021 [deg/m] & 0.1 s / 1 core \\
SMTD-LO & la & 0.66 \% & 0.0020 [deg/m] & 0.3 s / 1 core \\
PICP & la & 0.67 \% & 0.0018 [deg/m] & 0.05 s / 1 core \\
ELO & la & 0.68 \% & 0.0021 [deg/m] & 0.005 s / GPU \\
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 \\
ICD & & 0.71 \% & 0.0018 [deg/m] & 0.2 s / 8 cores \\
ISC-LOAM & la & 0.72 \% & 0.0022 [deg/m] & 0.1 s / 4 cores \\
TBDD & & 0.73 \% & 0.0015 [deg/m] & 0.1 s / 1 core \\
Test-W & la & 0.79 \% & 0.0033 [deg/m] & 0.08 s / 4 cores \\
PSF-LO & la & 0.82 \% & 0.0032 [deg/m] & 0.2s / 4 cores \\
iscloam\_vo2 & & 0.82 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
RADVO & st & 0.82 \% & 0.0018 [deg/m] & 0.07 s / 1 core \\
LG-SLAM & st & 0.82 \% & 0.0020 [deg/m] & 0.2 s / 4 cores \\
S4-SLAM2 & la & 0.83 \% & 0.0097 [deg/m] & 0.1 s / 1 core \\
RotRocc+ & st & 0.83 \% & 0.0026 [deg/m] & 0.25 s / 2 cores \\
CR-LDSO & & 0.83 \% & 0.0025 [deg/m] & 0.1 s / 4 core \\
AMBA-VO & st & 0.84 \% & 0.0021 [deg/m] & 0.1 s / 4 cores \\
LIMO2\_GP & la & 0.84 \% & 0.0022 [deg/m] & 0.2 s / 2 cores \\
CAE-LO & la & 0.86 \% & 0.0025 [deg/m] & 2 s / 8 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 \\
isc\_loam\_VO\_0809 & & 0.86 \% & 0.0027 [deg/m] & 1 s / 1 core \\
CPFG-slam & la & 0.87 \% & 0.0025 [deg/m] & 0.03 s / 4 cores \\
AMUE & & 0.88 \% & 0.0030 [deg/m] & 0.06 s / 4 core \\
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 \\
D3VO & & 0.88 \% & 0.0021 [deg/m] & 0.1 s / 1 core \\
SD-DEVO & la & 0.88 \% & 0.0028 [deg/m] & 0.06 s / 1 cores \\
PNDT LO & la & 0.89 \% & 0.0030 [deg/m] & 0.2 s / 8 cores \\
UKO & & 0.90 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
DVSO & & 0.90 \% & 0.0021 [deg/m] & 0.1 s / GPU \\
UKO0708 & & 0.91 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
TEST & & 0.91 \% & 0.0026 [deg/m] & 0.03 s / 1 core \\
TEST & & 0.91 \% & 0.0027 [deg/m] & 0.03 s / 1 core \\
MULLS-test & & 0.92 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
MULLS-test2 & & 0.92 \% & 0.0023 [deg/m] & 0.1 s / 1 core \\
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 \\
UKO & & 0.93 \% & 0.0023 [deg/m] & 10 s / 1 core \\
IsaacElbrusGPUSLAM & st & 0.94 \% & 0.0019 [deg/m] & 0.007 s / \\
OV2SLAM & st & 0.94 \% & 0.0023 [deg/m] & 0.01 s / 1 core \\
UKO & & 0.95 \% & 0.0025 [deg/m] & 0.1 s / 1 core \\
OV2SLAM & st & 0.98 \% & 0.0023 [deg/m] & 0.01 s / 8 cores \\
ROCC & st & 0.98 \% & 0.0028 [deg/m] & 0.3 s / 2 cores \\
IsaacElbrusSLAM & st & 0.99 \% & 0.0020 [deg/m] & 0.008 s / 3 cores \\
SuMa-MOS & la & 0.99 \% & 0.0033 [deg/m] & 0.1s / 1 core \\
MESVO & & 1.03 \% & 0.0033 [deg/m] & 0.5 s / 1 core \\
SuMa++ & la & 1.06 \% & 0.0034 [deg/m] & 0.1 s / 1 core \\
ULF-ESGVI & & 1.07 \% & 0.0036 [deg/m] & 0.3 s / GPU and CPU \\
cv4xv1-sc & st & 1.09 \% & 0.0029 [deg/m] & 0.145 s / GPU \\
VINS-Fusion & st & 1.09 \% & 0.0033 [deg/m] & 0.1s / 1 core \\
MonoROCC & st & 1.11 \% & 0.0028 [deg/m] & 1 s / 2 cores \\
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 \\
TEST & & 1.15 \% & 0.0043 [deg/m] & 0.03 s / 1 core \\
IV-SLAM & st & 1.17 \% & 0.0025 [deg/m] & 0.1 s / GPU \\
NOTF & st & 1.17 \% & 0.0035 [deg/m] & 0.45 s / 1 core \\
S-PTAM & st & 1.19 \% & 0.0025 [deg/m] & 0.03 s / 4 cores \\
test & & 1.19 \% & 0.0028 [deg/m] & 0.03 s / 1 core \\
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 \\
RotAvg & & 1.24 \% & 0.0040 [deg/m] & 0.5 s / 1 core \\
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 \\
JFBVO-FM & st & 1.28 \% & 0.0010 [deg/m] & 0.1 s / 1 core \\
MFI & st & 1.30 \% & 0.0030 [deg/m] & 0.1 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 \\
SALO & la & 1.37 \% & 0.0051 [deg/m] & 0.6 s / 1 core \\
UKO0723 & & 1.38 \% & 0.0041 [deg/m] & 0.1 s / 1 core \\
SuMa & la & 1.39 \% & 0.0034 [deg/m] & 0.1 s / 1 core \\
ProSLAM & st & 1.39 \% & 0.0035 [deg/m] & 0.02 s / 1 core \\
ESVO & & 1.42 \% & 0.0048 [deg/m] & 1 s / 1 core \\
JFBVO & st & 1.43 \% & 0.0038 [deg/m] & 0.05 s / 1 core \\
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 \\
VOLDOR & & 1.65 \% & 0.0050 [deg/m] & 0.1 s / \\
TEST & & 1.68 \% & 0.0068 [deg/m] & 0.03 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 \\
floam & & 1.87 \% & 0.0049 [deg/m] & 0.1 s / 1 core \\
3DOF-SLAM & & 1.89 \% & 0.0083 [deg/m] & 0.02 s / 1 core \\
DOS VO & st & 1.90 \% & 0.0034 [deg/m] & 1 s / 1 core \\
EfficientLO-Net & & 1.92 \% & 0.0052 [deg/m] & 0.03 s / 1 core \\
DOSLAM & & 1.94 \% & 0.0032 [deg/m] & 0.01 s / 1 core \\
DAOSLAM & & 2.00 \% & 0.0034 [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 \\
GFM & & 2.12 \% & 0.0056 [deg/m] & 0.03 s / 2 cores \\
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 \\
SMLI & & 2.28 \% & 0.0073 [deg/m] & 0.1 s / 4 cores \\
iscloam\_vo & & 2.32 \% & 0.0028 [deg/m] & 0.1 s / 1 core \\
PbT-M1 & & 2.38 \% & 0.0053 [deg/m] & 1 s / 1 core \\
FLVIS & st & 2.42 \% & 0.0057 [deg/m] & 0.05 s / 2 cores \\
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 \\
KLTVO & st & 2.63 \% & 0.0042 [deg/m] & 0.1 s / 1 core \\
VO3pt & st & 2.69 \% & 0.0068 [deg/m] & 0.56 s / 1 core \\
pyLidar w/o mapping & & 2.91 \% & 0.0080 [deg/m] & 0.1s / 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 \\
GenPA-SLAM & & 3.48 \% & 0.0121 [deg/m] & 0,1 s / GPU \\
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 \\
DeepCLR & la & 3.83 \% & 0.0104 [deg/m] & 0.05 s / GPU \\
VOFS & st & 3.94 \% & 0.0099 [deg/m] & 0.51 s / 1 core \\
CPC & st & 4.01 \% & 0.0100 [deg/m] & 0.10 s / 1 core \\
CPC & st & 4.01 \% & 0.0100 [deg/m] & 0.10 s / 1 core \\
VOFSLBA & st & 4.17 \% & 0.0112 [deg/m] & 0.52 s / 1 core \\
DHVO & & 4.28 \% & 0.0043 [deg/m] & 0.05 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 \\
SuMa F2F & & 4.91 \% & 0.0153 [deg/m] & 0.1 s / 1 core \\
D3DLO & & 5.40 \% & 0.0154 [deg/m] & 0.1 s / GPU \\
EB3DTE+RJMCM & & 5.45 \% & 0.0274 [deg/m] & 1 s / 1 core \\
BUOO & & 5.89 \% & 0.0189 [deg/m] & 0.15 s / GPU \\
UnVeLO & & 5.94 \% & 0.0108 [deg/m] & 0.4 s / 1 core \\
test & & 6.01 \% & 0.0054 [deg/m] & 0.03 s / 1 core \\
TEST & & 6.65 \% & 0.0088 [deg/m] & 0.03 s / 1 core \\
LTMVO & & 7.40 \% & 0.0142 [deg/m] & 0.1 s / 1 core \\
VISO2-M + GP & & 7.46 \% & 0.0245 [deg/m] & 0.15 s / 1 core \\
BLO & & 9.21 \% & 0.0163 [deg/m] & 0.1 s / 1 core \\
A-LOAM w/o mapping & & 9.37 \% & 0.0192 [deg/m] & 0.1 s / 1 core \\
VISO2-M & & 11.94 \% & 0.0234 [deg/m] & 0.1 s / 1 core \\
MonoDepth2 & & 12.59 \% & 0.0312 [deg/m] & 1 s / 1 core \\
TEST-Lego & & 12.74 \% & 0.0091 [deg/m] & 0.03 s / 1 core \\
MEGO & & 12.89 \% & 0.0451 [deg/m] & 0.75 s / 1 core \\
SMD-LVO & & 13.25 \% & 0.0097 [deg/m] & 0.03 s / GPU \\
SC-SfMLearner (cs+k) & & 13.69 \% & 0.0355 [deg/m] & 0.01 s / 1 core \\
CC & & 16.06 \% & 0.0320 [deg/m] & 0.1 s / 1 core \\
LEGO-LOAMw/o mapping & & 19.57 \% & 0.0493 [deg/m] & 0.03 s / 1 core \\
OABA & & 20.95 \% & 0.0135 [deg/m] & 0.5 s / 1 core \\
SC-SfMLearner (k) & & 21.47 \% & 0.0425 [deg/m] & 0.01 s / 1 core \\
SLL & la & 90.05 \% & 0.2645 [deg/m] & 0.1 s / 1 core
\end{tabular}