MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Table 1

Results of absolute trajectory error (ATE) and improvements of MISD-SLAM compared to ORB-SLAM3 in dynamic sequences.

Sequence	ORB-SLAM3 [6]			MISD-SLAM (ours)			Improvements
	RMSE	Mean	S.D.	RMSE	Mean	S.D.	RMSE	Mean	S.D.
Sitting_static	0.0067	0.0055	0.0037	0.0059	0.0052	0.0028	11.94%	5.45%	24.32%
Walking_static	0.0248	0.0199	0.0148	0.0091	0.0079	0.0036	63.31%	60.30%	68.92%
Walking_xyz	0.2895	0.2620	0.1232	0.0129	0.0112	0.0063	95.54%	95.73%	94.89%
Walking_rpy	0.1655	0.1396	0.0889	0.1252	0.0904	0.0866	24.35%	35.24%	2.59%
Walking_halfsphere	0.3305	0.2977	0.1434	0.0168	0.0149	0.0077	94.92%	94.99%	94.63%