# A Survey of Visual SLAM Based on RGB-D Images Using Deep Learning and Comparative Study for VOE
## 3 Visual SLAM and Visual Odometry Using Deep Learning: Survey
### Deep Learning-Based Module for Visual SLAM and Visual Odometry
#### 3.1.4 DL Modules Add to the Visual SLAM Algorithm
\begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multirow{2}{*}{**Authors/Vears**} & \multicolumn{2}{c}{**TUM**} & \multicolumn{2}{c}{**KGB-D**} & \multicolumn{2}{c}{**KITTI**} & \multicolumn{2}{c}{**KITTI**} & \multicolumn{2}{c}{**KITTI**} \\  & \multicolumn{2}{c}{**KITTI**} & \multicolumn{2}{c}{**2012**} & \multicolumn{2}{c}{**City**} & \multicolumn{2}{c}{**Centre**} & \multicolumn{2}{c}{**[163]**} & \multicolumn{2}{c}{**(fr1,desk,**} & \multicolumn{2}{c}{**[56,00]**} & \multicolumn{2}{c}{**Dataset**} \\  & \multicolumn{2}{c}{**Datasets/ Measure. **} & \multicolumn{2}{c}{**Seq.02,**} & \multicolumn{2}{c}{**Seq.02,**} & \multicolumn{2}{c}{**fr2,desk,**} & \multicolumn{2}{c}{**,Seq.02,**} & \multicolumn{2}{c}{**(Seq.00)**} \\  & \multicolumn{2}{c}{**Methods**} & \multicolumn{2}{c}{**Seq.05**} & \multicolumn{2}{c}{} & \multicolumn{2}{c}{} & \multicolumn{2}{c}{**fr3-,**} & \multicolumn{2}{c}{**Seq.08**} & \multicolumn{2}{c}{**Seq.08**} \\ \cline{3-11}  & \multicolumn{2}{c}{**Seq.05**} & \multicolumn{2}{c}{} & \multicolumn{2}{c}{} & \multicolumn{2}{c}{**long**} & \multicolumn{2}{c}{**,**} \multicolumn{2}{c}{**office**} \\ \cline{3-11}  & \multicolumn{2}{c}{} & \multicolumn{2}{c}{} & \multicolumn{2}{c}{**_AUC_**} & \multicolumn{2}{c}{**AUC_**} & \multicolumn{2}{c}{**AUC_**} & \multicolumn{2}{c}{**_AUC_**} & \multicolumn{2}{c}{**_MTE_**} & \multicolumn{2}{c}{**RMSE_**} & \multicolumn{2}{c}{**_MSE_**} \\ \hline
[172]/2012 & DB6W2\_ORB & 0.067 & 0.22 & 0.092 & - & - & - & - & - \\ \hline
[172]/2012 & DB6W2\_BRISK & 0.318 & 0.186 & 0.088 & - & - & - & - & - \\ \hline
[172]/2012 & DB6W2\_SURF & 0.175 & 0.177 & 0.086 & - & - & - & - & - \\ \hline
[172]/2012 & DB6W2\_AKAZE & 0.413 & 0.444 & 0.199 & - & - & - & - & - \\ \hline
[173]/2017 & DB6W3\_ORB & 0.274 & 0.217 & 0.182 & - & - & - & - & - \\ \hline
[173]/2017 & DB6W3\_BRISK & 0.169 & 0.187 & 0.098 & - & - & - & - & - \\ \hline
[173]/2017 & DB6W3\_SURF & 0.12 & 0.019 & 0.0197 & - & - & - & - & - \\ \hline
[173]/2017 & DB6W3\_AKAZE & 0.46 & 0.174 & 0.147 & - & - & - & - & - \\ \hline
[174]/2018 & ib6W & 0.88 & 0.94 & 0.95 & - & - & - & - & - \\ \hline
[175]/2019 & Hf-Net & - & - & - & - & - & - & - & - \\ \hline
[167]/2020 & Impro\_BoW & 0.912 & 0.96 & 0.94 & - & - & - & - & - \\ \hline
[167]/2020 & Impro\_WithA & 0.96 & 0.97 & 0.94 & - & - & - & - & - \\ \hline
[168]/2020 & Impro\_BoW & 0.96 & 0.97 & 0.97 & - & - & - & - & - \\ \hline
[169]/2020 & WithA & 0.96 & 0.97 & 0.97 & - & - & - & - & - \\ \hline
[168]/2021 & Triplet Loss & - & - & - & 0.014 & 0.016 & 5.416705 & 6.74 & - \\ \hline
[168]/2021 & Triplet Loss & - & - & - & 0.012 & 0.0135 & 2.92 & 3.46 & - \\ \multicolumn{3}{l}{Learning} & \multicolumn{3}{l}{} & \multic \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multirow{3}{*}{**Authors**} & \multirow{3}{*}{
\begin{tabular}{c} **Dataset/** \\ **Measu/** \\ **Methods** \\ \end{tabular} } & \multicolumn{3}{c}{**KITTI 2012 Dataset (03, 04,**} & \multicolumn{3}{c}{**KITTI 2012 Dataset (09,10)**} & \multicolumn{3}{c}{**ScanNet++**} \\  & & \multicolumn{3}{c}{**05, 06, 07,100**} & & \multicolumn{3}{c}{**[1771] Dataset**} \\ \cline{3-10}  & & & & & & & & \\ \cline{2-10}  & & & & & & & & & \\ \cline{2-10}  & & & & & & & & & \\ \hline
[182]/2022 & NICE-SLAM & - & - & - & - & - & - & 0.0445 & 0.7449 \\ \hline
[122]/2023 & Co-SLAM & - & - & & - & - & & 0.0526 & 0.7886 \\ \hline
[121]/2023 & ESLAM & - & - & & - & - & 0.0443 & 0.7451 \\ \hline
[120]/2023 & Point-SLAM & - & - & - & - & - & - & 0.0067 & 0.9912 \\ \hline
[113]/2024 & SplaTAM & - & - & - & - & - & - & 0.0132 & 0.9531 \\ \hline
[112]/2024 & RTG-SLAM & - & - & - & - & - & - & 0.0095 & 0.9641 \\ \hline \hline \end{tabular}
\end{table} 
Table 10: _Cont._  
\begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multirow{3}{*}{**Authors/Year**} & \multirow{3}{*}{ \begin{tabular}{c} **Dataset/** \\ **Measu/** \\ **Methods** \\ \end{tabular}