动态场景下融合YOLOv11n目标检测的优化ORB-SLAM3算法

谢章郁,杨杰,欧阳嗣源,曾阳剑

Optimized ORB-SLAM3 algorithm incorporating YOLOv11n object detection for dynamic scenes

Zhangyu XIE,Jie YANG,Siyuan OUYANG,Yangjian ZENG

表 2 不同ORB-SLAM算法在TUM数据集中的平移相对位姿误差对比

Tab.2 Comparison of translational relative pose error of different ORB-SLAM algorithms on TUM dataset m

序列 ORB-SLAM3 仅加入目标检测算法 本研究算法 RMSER σ RMSER σ RMSER σ xyz 0.681 4 0.386 1 0.034 8 0.015 3 0.020 0 0.006 8 rpy 0.610 9 0.251 3 0.045 5 0.021 2 0.035 6 0.012 5 halfphere 0.387 5 0.239 9 0.061 4 0.015 5 0.026 2 0.010 9 static 0.079 1 0.049 3 0.015 1 0.002 0 0.011 6 0.001 0