研究文章
DIR-SLAM:动态干扰去除实时VSLAM在动态环境中
表3
评估的RPE ORB-SLAM2的结果,DS-SLAM, DIR-SLAM (m)。
|
| 序列 |
ORB-SLAM2 |
DS-SLAM [15] |
DIR-SLAM(我们的) |
改进 |
| RMSE |
SD |
RMSE |
SD |
RMSE |
SD |
均方根误差(%) |
SD (%) |
|
| f3 / w /一半 |
0.3593 |
0.2873 |
0.0297 |
0.0152 |
0.0296 |
0.0154 |
91.76 |
94.64 |
| f3 / w / rpy |
0.4436 |
0.3331 |
0.1503 |
0.1168 |
0.0414 |
0.0249 |
90.67 |
92.52 |
| f3 / w /静态的 |
0.2143 |
0.1937 |
0.0102 |
0.0048 |
0.0085 |
0.0040 |
96.03 |
97.93 |
| f3 / w / xyz |
0.4284 |
0.2877 |
0.0333 |
0.0229 |
0.0195 |
0.0090 |
95.45 |
96.87 |
| f3 / w /一半/ v |
0.2853 |
0.2291 |
- - - - - - |
- - - - - - |
0.0263 |
0.0159 |
90.78 |
93.06 |
| f3 / w / rpy / v |
0.3482 |
0.2855 |
- - - - - - |
- - - - - - |
0.0354 |
0.0223 |
89.83 |
92.19 |
| f3 / w /静态/ v |
0.2477 |
0.2188 |
- - - - - - |
- - - - - - |
0.0102 |
0.0055 |
95.88 |
97.49 |
| f3 / w / xyz / v |
0.4295 |
0.3816 |
- - - - - - |
- - - - - - |
0.0153 |
0.0072 |
96.44 |
98.11 |
| f3 / s /一半 |
0.0250 |
0.0182 |
- - - - - - |
- - - - - - |
0.0143 |
0.0066 |
42.80 |
63.74 |
| f3 / s / rpy |
0.0250 |
0.0148 |
- - - - - - |
- - - - - - |
0.0248 |
0.0141 |
0.80 |
4.73 |
| f3 / s /静态的 |
0.0094 |
0.0042 |
0.0078 |
0.0038 |
0.0073 |
0.0034 |
22.34 |
19.05 |
| f3 / s / xyz |
0.0121 |
0.0062 |
- - - - - - |
- - - - - - |
0.0127 |
0.0067 |
−4.96 |
−8.06 |
|
|
