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

Table 1

Comparison on PASCAL VOC 2012 validation set.

Network	Header	Params (M)	mIOU (%)	mPA (%)
	ASPP	2.15	74.92	83.49
	PSP	2.41	73.61	82.60
De-MNetV2	PSP	2.59	75.75	84.06

¹: second last feature map is used for DeepLabv3 heads [39] or PSPNet heads, named, separately MobileNet + DeepLabV3 [25] and MobileNet + PSPNet. ²The output stride is fixed on 16. All the results come from our own experiments. ³All the networks are trained on the PASCAL VOC2012 train set without pretraining weights.