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

Figure 18

Semantic map construction using TUM datasets (walking-xyz). (a) Semantic map construction contains dynamic objects. (b) Semantic map construction without dynamic objects. (c) Semantic octree map construction contains dynamic objects. (d) Semantic octree map construction without dynamic objects.

(a)

(b)

(c)

(d)