MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Table 3

Comparison results of absolute trajectory RMSE (m) against the state-of-the-art dynamic SLAM systems.

Sequence	DS-SLAM [18]	DynaSLAM [19]	Detect-SLAM [20]	SOF-SLAM [21]	SaD-SLAM [22]	MISD-SLAM (ours)
Sitting_static	0.0065	—	—	0.010	0.0060	0.0059
Walking_static	0.0081	0.006	—	0.007	0.0166	0.0091
Walking_xyz	0.0247	0.015	0.0241	0.018	0.0167	0.0129
Walking_rpy	0.4442	0.035	0.2959	0.027	0.0318	0.1252
Walking_halfsphere	0.0303	0.025	0.0514	0.029	0.0257	0.0168