The latest NN based approaches still fall short of ORB-SLAM - which is considered the state of the art (in terms implementations). However, it still has only 70% success rate in loop closures.

We tend to measure our accuracy with loop closures and slam graph consistency over time.

Here’s the link of Matic self and exploring and building map on the fly: https://www.dropbox.com/s/e051nmb1ci0o8nu/Auto_Explore_Mehul...