Before revision:  Extensive experimental results demonstrate that our method achieves better performance than state-of-the-art direct and indirect SLAM approaches . Specifically, it obtains good localization and mapping results in challenging scenes with occlusions, image blur , and repetitive textures.
After revision:  Extensive experimental results demonstrate that our method achieves better performance than state-of-the-art direct and indirect SLAM approaches . Specifically, it obtains good localization and mapping results in challenging scenes with occlusions, blurred images , and repetitive textures.