Research Article
DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments
Figure 3
The flow of the DIR method in 2 consecutive RGB color frames. indicates the current frame, indicates the previous frame. The method requires (1) feature matches between and ; (2) the segmented mask obtained by prior semantic information from both De-MNetV2 and dynamic correlation region; (3) the pose of the previous frame .