基于重投影深度差累积图与静态概率的动态RGB-D SLAM算法
林凯,梁新武,蔡纪源

Dynamic RGB-D SLAM algorithm based on reprojection depth difference cumulative map and static probability
Kai LIN,Xin-wu LIANG,Ji-yuan CAI
表 1 LARR和TUM RGB-D数据集上不同算法的相对位姿误差(均方根误差)对比
Tab.1 Comparison of RPE(RMSE) among different methods on LARR and TUM RGB-D datasets
序列 $R_{\rm{t}}$/(m·s −1) $R_{\rm{r}}$/((°)·s −1)
eDVO [ 14] ORB-VO eORB-VO 本研究 eDVO [ 14] ORB-VO eORB-VO 本研究
static_board 0.292 0.034 0.022 0.024 4.839 0.018 0.009 0.010
static_construct 0.153 0.033 0.003 0.003 3.821 0.017 0.001 0.001
dynamic_board 0.111 X 0.027 0.028 1.939 X 0.031 0.031
dynamic_man1 0.157 0.039 0.025 0.023 4.108 0.053 0.053 0.053
fr3/sitting_xyz 0.073 0.008 0.010 0.009 1.860 0.008 0.008 0.008
fr3/walking_static 0.217 0.016 0.013 0.012 0.197 0.008 0.006 0.006
fr3/walking_xyz 0.259 0.028 0.020 0.015 4.069 0.016 0.012 0.010