MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Figure 2

The main architecture of MISD-SLAM. Our system is built on ORB-SLAM3. Modules in green color are new created including instance segmentation, dynamic pixels removal, and semantic 3D map construction, by which MISD-SLAM system could obtain semantic knowledge, reduce the impact of dynamic objects, and build a semantic map.