Research Article
DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments
Table 2
Evaluation of ATE for the results of ORB-SLAM2, DS-SLAM, DynaSLAM, and DIR-SLAM (m).
| Sequences | ORB-SLAM2 | DS-SLAM [15] | DynaSLAM [16] | DIR-SLAM (ours) | Improvement | RMSE | SD | RMSE | SD | RMSE | SD | RMSE | SD | RMSE (%) | SD (%) |
| f3/w/half | 0.4525 | 0.2675 | 0.0303 | 0.0159 | 0.025 | — | 0.0275 | 0.0133 | 93.92 | 95.03 | f3/w/rpy | 0.7438 | 0.3644 | 0.4442 | 0.2350 | 0.035 | — | 0.0298 | 0.0184 | 95.99 | 94.95 | f3/w/static | 0.4074 | 0.1246 | 0.0081 | 0.0036 | 0.006 | — | 0.0062 | 0.0027 | 98.48 | 97.83 | f3/w/xyz | 0.7978 | 0.4553 | 0.0247 | 0.0161 | 0.015 | — | 0.0147 | 0.0068 | 98.16 | 98.51 | f3/w/half/v | 0.5899 | 0.3418 | — | — | — | — | 0.0218 | 0.0120 | 96.30 | 96.49 | f3/w/rpy/v | 0.5935 | 0.3239 | — | — | — | — | 0.0291 | 0.0184 | 95.10 | 94.32 | f3/w/static/v | 0.7189 | 0.1952 | — | — | — | — | 0.0087 | 0.0045 | 98.79 | 97.69 | f3/w/xyz/v | 1.6046 | 0.6560 | — | — | — | — | 0.0116 | 0.0051 | 99.28 | 99.22 | f3/s/half | 0.0244 | 0.0136 | — | — | 0.017 | — | 0.0127 | 0.0060 | 47.95 | 55.88 | f3/s/rpy | 0.0197 | 0.0126 | — | — | 0.015 | — | 0.0193 | 0.0116 | 2.03 | 7.94 | f3/s/static | 0.0080 | 0.0037 | 0.0065 | 0.0033 | — | — | 0.0059 | 0.0028 | 26.25 | 24.32 | f3/s/xyz | 0.0097 | 0.0049 | — | — | — | — | 0.0099 | 0.0049 | −2.06 | 0.00 |
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