Research Article
DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments
Table 4
Evaluation of ATE on the TUM RGB-D dataset using the proposed method with different configurations (m).
| Sequences | | | | | DIR-SLAM (ours) |
| f3/w/half | 0.0283 | 0.0304 | 0.0392 | 0.0306 | 0.0275 | f3/w/rpy | 0.0297 | 0.1186 | 0.1816 | 0.0574 | 0.0298 | f3/w/static | 0.0069 | 0.0084 | 0.0093 | 0.0085 | 0.0062 | f3/w/xyz | 0.0152 | 0.0159 | 0.0652 | 0.2729 | 0.0147 | f3/w/half/v | 0.0231 | 0.0316 | 0.0324 | 0.0291 | 0.0218 | f3/w/rpy/v | 0.0303 | 0.0280 | 0.0294 | 0.0306 | 0.0291 | f3/w/static/v | 0.0088 | 0.0084 | 0.0093 | 0.0088 | 0.0083 | f3/w/xyz/v | 0.0121 | 0.0115 | 0.3411 | 0.0125 | 0.0113 | f3/s/half | 0.0137 | 0.0144 | 0.0152 | 0.0146 | 0.0127 | f3/s/rpy | 0.0204 | 0.0213 | 0.0215 | 0.0341 | 0.0193 | f3/s/static | 0.0062 | 0.0063 | 0.0074 | 0.0064 | 0.0059 | f3/s/xyz | 0.0101 | 0.0107 | 0.0089 | 0.0114 | 0.0099 |
|
|