研究文章
DIR-SLAM:动态干扰去除实时VSLAM在动态环境中
表2
吃的结果评价ORB-SLAM2, DS-SLAM, DynaSLAM, DIR-SLAM (m)。
|
| 序列 |
ORB-SLAM2 |
DS-SLAM [15] |
DynaSLAM [16] |
DIR-SLAM(我们的) |
改进 |
| RMSE |
SD |
RMSE |
SD |
RMSE |
SD |
RMSE |
SD |
均方根误差(%) |
SD (%) |
|
| f3 / w /一半 |
0.4525 |
0.2675 |
0.0303 |
0.0159 |
0.025 |
- - - - - - |
0.0275 |
0.0133 |
93.92 |
95.03 |
| f3 / w / rpy |
0.7438 |
0.3644 |
0.4442 |
0.2350 |
0.035 |
- - - - - - |
0.0298 |
0.0184 |
95.99 |
94.95 |
| f3 / w /静态的 |
0.4074 |
0.1246 |
0.0081 |
0.0036 |
0.006 |
- - - - - - |
0.0062 |
0.0027 |
98.48 |
97.83 |
| f3 / w / xyz |
0.7978 |
0.4553 |
0.0247 |
0.0161 |
0.015 |
- - - - - - |
0.0147 |
0.0068 |
98.16 |
98.51 |
| f3 / w /一半/ v |
0.5899 |
0.3418 |
- - - - - - |
- - - - - - |
- - - - - - |
- - - - - - |
0.0218 |
0.0120 |
96.30 |
96.49 |
| f3 / w / rpy / v |
0.5935 |
0.3239 |
- - - - - - |
- - - - - - |
- - - - - - |
- - - - - - |
0.0291 |
0.0184 |
95.10 |
94.32 |
| f3 / w /静态/ v |
0.7189 |
0.1952 |
- - - - - - |
- - - - - - |
- - - - - - |
- - - - - - |
0.0087 |
0.0045 |
98.79 |
97.69 |
| f3 / w / xyz / v |
1.6046 |
0.6560 |
- - - - - - |
- - - - - - |
- - - - - - |
- - - - - - |
0.0116 |
0.0051 |
99.28 |
99.22 |
| f3 / s /一半 |
0.0244 |
0.0136 |
- - - - - - |
- - - - - - |
0.017 |
- - - - - - |
0.0127 |
0.0060 |
47.95 |
55.88 |
| f3 / s / rpy |
0.0197 |
0.0126 |
- - - - - - |
- - - - - - |
0.015 |
- - - - - - |
0.0193 |
0.0116 |
2.03 |
7.94 |
| f3 / s /静态的 |
0.0080 |
0.0037 |
0.0065 |
0.0033 |
- - - - - - |
- - - - - - |
0.0059 |
0.0028 |
26.25 |
24.32 |
| f3 / s / xyz |
0.0097 |
0.0049 |
- - - - - - |
- - - - - - |
- - - - - - |
- - - - - - |
0.0099 |
0.0049 |
−2.06 |
0.00 |
|
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