OFM-SLAM: A Visual Semantic SLAM for Dynamic Indoor Environments

Algorithm 1

Dynamic points’ detection algorithm.

	Input: Last frame, ; Last frame’s keypoints, ; Current frame, ;
	Output: Dynamic points,
(1)	Current frame’s keypoints P2 = CalcopticalFlowPyrLK
(2)	Dynamic points’ detection
(3)	= FindFundamentalMatrix
(4)	for each matched points’ pair , in ,
(5)	= CalcEpipolarLine
(6)	= Distance
(7)	if then
(8)	add in
(9)	end if
(10)	end for