\begin{tabular}{c | c | c | c}
{\bf Method} & {\bf AP 50} & {\bf AP 25} & {\bf Runtime}\\ \hline
SUMA++ \cite{Chen2019IROS} & 313.06 \% & 2.72 \% & / \\
ORB-SLAM2 \cite{Artal2017TR} & 191.58 \% & 2.03 \% & / \\
SOFT2 \cite{9835150} & 70.04 \% & 0.84 \% & 0.1 s / 4 cores \\
CT-ICP2 \cite{9811849} & 50.19 \% & 1.00 \% & 0.06 s / 1 core
\end{tabular}