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 3 TUM RGB-D数据集上不同算法的绝对轨迹误差（均方根误差）对比

Tab.3 Comparison of ATE(RMSE) among different methods on TUM RGB-D datasets m

TUM_fr3序列 ATE 半直接法 [ 3] Detect-SLAM [ 6] DS-SLAM [ 8] 改进几何与运动约束 [ 11] DSLAM [ 12] Static-weight [ 13] 本研究 sitting_static — — 0.006 4 0.044 6 0.009 6 — 0.006 9 sitting_xyz 0.011 3 0.020 1 — 0.018 6 0.009 1 0.039 7 0.010 5 sitting_halfsphere 0.062 0 0.023 1 — 0.027 1 0.023 5 0.043 2 0.017 0 sitting_rpy — — — 0.038 5 0.022 5 — 0.026 1 walking_static 0.008 0 — 0.008 1 0.013 1 0.010 8 0.026 1 0.012 7 walking_xyz 0.037 1 0.024 1 0.024 7 0.035 4 0.087 4 0.060 1 0.054 4 walking_halfsphere 0.040 9 0.051 4 0.030 3 0.028 5 0.035 4 0.048 9 0.047 4 walking_rpy X 0.295 9 0.444 2 0.096 6 0.160 8 0.179 1 0.033 1 平均 X 0.082 9 0.102 7 0.037 8 0.044 9 0.066 2 0.026 0