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 3 不同SLAM算法在TUM数据集中的绝对轨迹误差对比

Tab.3 Absolute trajectory error comparison of different SLAM algorithms on TUM dataset m

算法 RMSEA σ xyz rpy halfphere static xyz rpy halfphere static DS-SLAM[18] 0.0247 0.4442 0.0303 0.0081 0.0161 0.2350 0.0159 0.0036 SG-SLAM[19] 0.0152 0.0324 0.0268 0.0073 0.0075 0.0187 0.0134 0.0034 OVD-SLAM[20] 0.0135 0.0349 0.0229 0.0068 0.0068 0.0211 0.0111 0.0030 CFP-SLAM[11] 0.0141 0.0368 0.0237 0.0066 0.0072 0.0230 0.0114 0.0030 本研究 0.0152 0.0294 0.0214 0.0058 0.0070 0.0149 0.0112 0.0027