Research Article
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 |
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