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 2 LARR和TUM RGB-D数据集上本研究算法与ORB-SLAM2的绝对轨迹误差（均方根）对比

Tab.2 Comparison of ATE(RMSE) between proposed method and ORB-SLAM2 on LARR and TUM RGB-D datasets

m 序列 ATE ORB-SLAM2 eORB-SLAM2 本研究 static_board 1.442 6 0.056 4 0.077 4 static_construct 1.114 7 0.004 6 0.004 7 dynamic_board 1.151 0 0.021 3 0.021 6 dynamic_man1 0.297 7 0.035 1 0.034 2 fr3/sitting_xyz 0.009 2 0.017 2 0.010 5 fr3/walking_static 0.393 1 0.021 0 0.012 7 fr3/walking_xyz 0.676 8 0.426 6 0.054 4 fr3/walking_halfsphere 0.648 3 0.119 4 0.047 4 fr3/walking_rpy 0.787 1 0.050 9 0.033 1 平均 0.724 5 0.111 7 0.028 6