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

Table 3

Evaluation of RPE for the results of ORB-SLAM2, DS-SLAM, and DIR-SLAM (m).

Sequences	ORB-SLAM2		DS-SLAM [15]		DIR-SLAM (ours)		Improvement
	RMSE	SD	RMSE	SD	RMSE	SD	RMSE (%)	SD (%)
f3/w/half	0.3593	0.2873	0.0297	0.0152	0.0296	0.0154	91.76	94.64
f3/w/rpy	0.4436	0.3331	0.1503	0.1168	0.0414	0.0249	90.67	92.52
f3/w/static	0.2143	0.1937	0.0102	0.0048	0.0085	0.0040	96.03	97.93
f3/w/xyz	0.4284	0.2877	0.0333	0.0229	0.0195	0.0090	95.45	96.87
f3/w/half/v	0.2853	0.2291	—	—	0.0263	0.0159	90.78	93.06
f3/w/rpy/v	0.3482	0.2855	—	—	0.0354	0.0223	89.83	92.19
f3/w/static/v	0.2477	0.2188	—	—	0.0102	0.0055	95.88	97.49
f3/w/xyz/v	0.4295	0.3816	—	—	0.0153	0.0072	96.44	98.11
f3/s/half	0.0250	0.0182	—	—	0.0143	0.0066	42.80	63.74
f3/s/rpy	0.0250	0.0148	—	—	0.0248	0.0141	0.80	4.73
f3/s/static	0.0094	0.0042	0.0078	0.0038	0.0073	0.0034	22.34	19.05
f3/s/xyz	0.0121	0.0062	—	—	0.0127	0.0067	−4.96	−8.06