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