MISD-SLAM: Multimodal Semantic SLAM for Dynamic Environments

Table 5

Comparison of the time performance to other methods. The total time includes the time of feature extraction, semantic segmentation, and dynamic objects removal but without the time of map construction.

Methods	Total time (ms)
DS-SLAM [18]	76.46
DynaSLAM [19]	286.47
Detect-SLAM [20]	340.00
MISD-SLAM (ours)	228.11