DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments

<div>The framework of DIR-SLAM. We insert the DIR method into the front end of ORB-SLAM2 and serve as a preprocessing stage to remove dynamic interference. Tracking, back end, and mapping threads are the same as ORB-SLAM2.</div>

Mobile Information Systems

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Figure 2

Figure 2: DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments 