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The comparison results from Section 5.1 in the paper are found in the following videos:

basins.wmv, bottles.wmv, copier.wmv and desktop.wmv 

These videos show the results from all of the relocalisation methods working for every frame of the test sequences. The top image shows the ground-truth image from the camera, and the other images are synthetic views generated from the relocalised poses. Good performance is indicated by the closeness of each image to the ground truth, and the stability of results from frame to frame. There is no tracking at all in any of these sequences.

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The segmentation results from Section 5.2 in the paper are found in the following video:

segmentation.wmv

This video shows segmentation using the relocalised pose. Segmented objects are those objects which appear in the current image but not in the map. Again, there is no tracking in this sequence.

