基于重投影深度差累积图与静态概率的动态RGB-D SLAM算法
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林凯,梁新武,蔡纪源
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Dynamic RGB-D SLAM algorithm based on reprojection depth difference cumulative map and static probability
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Kai LIN,Xin-wu LIANG,Ji-yuan CAI
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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 |
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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 |
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