\begin{tabular}{c | c | c | c}
{\bf Method} & {\bf Translation} & {\bf Rotation} & {\bf Runtime}\\ \hline
V-LOAM \cite{Zhang2015ICRA} & 0.63 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
LOAM \cite{Zhang2014RSS} & 0.64 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
SOFT2 \cite{Cvisic2017JFR} & 0.65 \% & 0.0014 [deg/m] & 0.1 s / 2 cores \\
RotRocc+ \cite{Buczko2016ITSC} & 0.83 \% & 0.0026 [deg/m] & 0.25 s / 2 cores \\
GDVO \cite{ijcai17} & 0.86 \% & 0.0031 [deg/m] & 0.09 s / 1 core \\
SOFT \cite{Cvisic2015ECMR} & 0.88 \% & 0.0022 [deg/m] & 0.1 s / 2 cores \\
RotRocc \cite{Buczko2016ITSC} & 0.88 \% & 0.0025 [deg/m] & 0.3 s / 2 cores \\
ROCC \cite{Buczko2016IV} & 0.98 \% & 0.0028 [deg/m] & 0.3 s / 2 cores \\
cv4xv1-sc \cite{Persson2015IV} & 1.09 \% & 0.0029 [deg/m] & 0.145 s / GPU \\
MonoROCC \cite{Buczko2017IV} & 1.11 \% & 0.0028 [deg/m] & 1 s / 2 cores \\
DEMO \cite{Zhang2014IROS} & 1.14 \% & 0.0049 [deg/m] & 0.1 s / 2 cores \\
NOTF \cite{Deigmoeller2016GCPR} & 1.17 \% & 0.0035 [deg/m] & 0.45 s / 1 core \\
S-PTAM \cite{Pire2015IROS} & 1.19 \% & 0.0025 [deg/m] & 0.03 s / 4 cores \\
S-LSD-SLAM \cite{Engel2015IROS} & 1.20 \% & 0.0033 [deg/m] & 0.07 s / 1 core \\
VoBa \cite{Tardif2010IROS} & 1.22 \% & 0.0029 [deg/m] & 0.1 s / 1 core \\
SLUP \cite{QU2017} & 1.25 \% & 0.0041 [deg/m] & 0.17 s / 4 cores \\
FRVO \cite{meiqing2017vo} & 1.26 \% & 0.0038 [deg/m] & 0.03 s / 1 core \\
FVO \cite{toBeDefined} & 1.29 \% & 0.0031 [deg/m] & 0.2 s / 1 core \\
MFI \cite{Badino2013ICCVWORK} & 1.30 \% & 0.0030 [deg/m] & 0.1 s / 1 core \\
TLBBA \cite{Lu2013IV} & 1.36 \% & 0.0038 [deg/m] & 0.1 s / 1 Core \\
2FO-CC \cite{Kreso2015VISAPP} & 1.37 \% & 0.0035 [deg/m] & 0.1 s / 1 core \\
ProSLAM \cite{2017arXiv170904377S} & 1.51 \% & 0.0040 [deg/m] & 0.02 s / 1 core \\
StereoSFM \cite{Badino2011MVA} & 1.51 \% & 0.0042 [deg/m] & 0.02 s / 2 cores \\
SSLAM \cite{Bellavia2013ICIAP} & 1.57 \% & 0.0044 [deg/m] & 0.5 s / 8 cores \\
eVO \cite{Sanfourche13} & 1.76 \% & 0.0036 [deg/m] & 0.05 s / 2 cores \\
Stereo DWO \cite{Huai2015stereo} & 1.76 \% & 0.0026 [deg/m] & 0.1 s / 4 cores \\
D6DVO \cite{Comport07} & 2.04 \% & 0.0051 [deg/m] & 0.03 s / 1 core \\
PMO / PbT-M2 \cite{fanani2017predictive} & 2.05 \% & 0.0051 [deg/m] & 1 s / 1 core \\
SSLAM-HR \cite{SSLAM0} & 2.14 \% & 0.0059 [deg/m] & 0.5 s / 8 cores \\
FTMVO \cite{Mirabdollah2015GCPR} & 2.24 \% & 0.0049 [deg/m] & 0.11 s / 1 core \\
PbT-M1 \cite{FananiBradlerOchsMester2016} & 2.38 \% & 0.0053 [deg/m] & 1 s / 1 core \\
VISO2-S \cite{Geiger2011IV} & 2.44 \% & 0.0114 [deg/m] & 0.05 s / 1 core \\
MLM-SFM \cite{Song2014CVPR} & 2.54 \% & 0.0057 [deg/m] & 0.03 s / 5 cores \\
GT\_VO3pt \cite{Beall10} & 2.54 \% & 0.0078 [deg/m] & 1.26 s / 1 core \\
RMCPE+GP \cite{Mirabdollah2014GCPR} & 2.55 \% & 0.0086 [deg/m] & 0.39 s / 1 core \\
VO3pt \cite{Alcantarilla11phd} & 2.69 \% & 0.0068 [deg/m] & 0.56 s / 1 core \\
TGVO \cite{KittEtAl2010} & 2.94 \% & 0.0077 [deg/m] & 0.06 s / 1 core \\
VO3ptLBA \cite{Alcantarilla11phd} & 3.13 \% & 0.0104 [deg/m] & 0.57 s / 1 core \\
PLSVO \cite{Gomez2015} & 3.26 \% & 0.0095 [deg/m] & 0.20 s / 2 cores \\
CFORB \cite{Mankowitz2015cforb} & 3.73 \% & 0.0107 [deg/m] & 0.9 s / 8 cores \\
VOFS \cite{Kaess2009ICRA} & 3.94 \% & 0.0099 [deg/m] & 0.51 s / 1 core \\
VOFSLBA \cite{Kaess09icra} & 4.17 \% & 0.0112 [deg/m] & 0.52 s / 1 core \\
VISO2-M + GP \cite{Geiger11} & 7.46 \% & 0.0245 [deg/m] & 0.15 s / 1 core \\
VISO2-M \cite{Geiger2011IV} & 11.94 \% & 0.0234 [deg/m] & 0.1 s / 1 core \\
OABA \cite{Frost2016ICRA} & 20.95 \% & 0.0135 [deg/m] & 0.5 s / 1 core
\end{tabular}