An Improved Deep Residual Network-Based Semantic Simultaneous Localization and Mapping Method for Monocular Vision Robot

Figure 13

The SLAM experimental results on (a) fre1_desk1 based on I-ORB, (b) fre1_desk2 based on I-ORB, (c) fre1_xyz based on I-ORB, (d) fre1_desk1 based on G-ORB, (e) fre1_desk2 based on G-ORB, and (f) fre1_xyz based on G-ORB.

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