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

<div>The single-step results of the geometric consistency check module: (a) the predetermined static keypoints by BA; (b) the results of dynamic outliers rejection superimposed with the segmented masks.</div>

Mobile Information Systems

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Figure 9

Figure 9: DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments 