Research Article
DIR-SLAM: Dynamic Interference Removal for Real-Time VSLAM in Dynamic Environments
Table 5
Comparison of average computation time (ms).
| | Modules | ORB-SLAM2 | DIR-SLAM (ours) | | f3/w/static | f3/w/xyz | f3/w/static | f3/w/xyz |
| | Semantic part | — | — | 23.1439 | 23.0893 | | Geometric consistency check | — | — | 33.1647 | 42.8656 | | Pose estimation | 13.6618 | 15.6819 | 6.6141 | 7.1349 | | Tracking | 26.5359 | 27.6001 | 52.5604 | 61.2871 |
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