The new dataset comes from our group's new lab. It still is a closed path. I used joystick control the robot. From the result, we can see, EKF slam is a powerful tool to correct the odometry error. In the end, it finally close the loop..
Left side of video is trajectory of robot, red line is odometry result. green line is fusion odometry with vision. Right side of video is feature tracking, green point is predicted point and red point is matched point.