Fig. 1. Overall framework of our SLAM algorithm

Fig. 2. Collection system of our dataset. (a) UAV for data collection; (b) Vicon motion capture system

Fig. 3. Comparison of trajectors with different algorithms under VECtor dataset. (a) School dolly sequence;(b) school scooter sequence;(c) units dolly sequence; (c) units scooter sequence

Fig. 4. Output trajectory and map of our algorithm under VECtor dataset. (a) School dolly sequence; (b) school scooter sequence; (c) units dolly sequence;(d) units scooter sequence

Fig. 5. Experimental results under sequence vicon_1. (a) Output of rajectory and map by our algorithm; (b) comparison of trajectories between different algorithms

Fig. 6. Experimental results under sequence vicon_2. (a) Output of rajectory and map by our algorithm; (b) comparison of trajectories between different algorithms

Fig. 7. Comparison of real-time analysis for different algorithms