MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Figure 9

Experiments in real-world environments and comparison of ORB features extraction results between ORB-SLAM3 [6] and MISD-SLAM. From left to right, the first column (a) is the ORB features extraction results in ORB-SLAM3 [6]. (b)–(d) are the processes of MISD-SLAM, which are, respectively, the instance segmentation, clustering results, and ORB features extraction results after dynamic features removal in MISD-SLAM.