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\begin{table}[]
\caption{The final root mean square error (RMSE) of each approach.\label{tab1}}
\begin{adjustwidth}{-\extralength}{0cm}
\centering 
\begin{tabular}{ccccc}

\multicolumn{5}{c}{RMSE IN MAP EXPERIMENT.}                                                                          \\ \hline
\multirow{2}{*}{Sequence} & \multirow{2}{*}{Length(km)} & \multicolumn{3}{c}{Proposed RMSE(m)}                       \\ \cline{3-5} 
                          &                             & VO Map          &                 & VO + GNSS Map          \\ \hline
FlySImulation-Data1       & 58.991                      & 2.727           &                 & 0.907                  \\
FlyReal-Data1             & 31.542                      & 13.274          &                 & 0.838                  \\
CarReal-Data1             & 4.986                       & 5.51            &                 & 0.655                  \\ \hline
\multicolumn{5}{c}{}                                                                                                 \\
\multicolumn{5}{c}{RMSE IN LOCALIZATION EXPERIMENT.}                                                          \\ \hline
\multirow{3}{*}{Sequence} & \multirow{3}{*}{Length(km)} & \multicolumn{3}{c}{Proposed RMSE(m)}                       \\ \cline{3-5} 
                          &                             & VO Map          & VO + GNSS Map   & VO + GNSS Map          \\
                          &                             & VO Localization & VO Localization & VO + GNSS Localization \\ \hline
FlySImulation-Data2       & 3.14                        & 4.69            & 2.232           & 0.919                  \\
FlyReal-Data2             & 9.94                        & 15.59           & 3.043           & 2.431                  \\
FlyReal-Data3             & 16.8                        & 12.728          & 2.962           & 2.502                  \\
CarReal-Data2             & 1.35                        & 16.334          & 2.204           & 2.116                  \\ \hline
\end{tabular}
\end{adjustwidth}
\end{table}

　　

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