/home/zss/Documents/myslam/desk_yolo.txt /home/zss/Documents/myslam/TUM1.yaml /home/zss/Documents/data/rgbd_dataset_freiburg1_desk /home/zss/Documents/data/rgbd_dataset_freiburg1_desk/associate.txt
绝对误差：
实际场景稀疏语义地图表达，useful数据关联：
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ORB-SLAM2 combined with yolov3 object detection, considering the relationship among objects
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leyuan-sun/semantic_slam
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ORB-SLAM2 combined with yolov3 object detection, considering the relationship among objects
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