OFM-SLAM: A Visual Semantic SLAM for Dynamic Indoor Environments

Table 1

ATE and RPE RMSE compared with other systems.

Datasets	Error
	ATE RMSE (cm)			RPE RMSE (cm)
	ORB-SLAM2	DS-SLAM	OFM-SLAM	ORB-SLAM2	DS-SLAM	OFM-SLAM
Sitting_static	0.8948	0.650	0.6520	0.5001	0.780	0.5464
Sitting_xyz	0.9033	0.979	1.3789	0.8347	0.863	0.9989
Walking_hs	75.1594	3.030	2.5202	3.7078	2.970	1.4401
Walking_rpy	86.5038	44.420	3.2643	11.2434	15.030	2.3025
Walking_static	39.5077	0.810	0.8085	1.7274	1.020	0.6066
Walking_xyz	59.3589	2.470	1.6777	4.3485	3.330	1.2050