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