MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/7600669/figures/7600669.fig.006a.svgz" name="7600669.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>sitting_xyz</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/7600669/figures/7600669.fig.006b.svgz" name="7600669.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>sitting_halfsphere</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/7600669/figures/7600669.fig.006c.svgz" name="7600669.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>walking_halfsphere</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/7600669/figures/7600669.fig.006d.svgz" name="7600669.fig.006d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>walking_xyz</td></tr></table>

<div>Trajectory comparison in dynamic sequences. Sitting series is in low-dynamic, and walking series is in high-dynamic. The green line is the trajectory of ORB-SLAM3, the blue line is the trajectory of MISD-SLAM, and the black dotted line is the ground truth.</div>

Wireless Communications and Mobile Computing

MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Figure 6