Does Dynamic-Point Filtering Help When Texture Is Scarce? A Controlled Study of ORB-SLAM2 Front-Ends in Synthetic Indoor Scenes
Dynamic-point filters are routinely added to feature-based visual SLAM, and several recent systems argue that removing dynamic features can leave too few static features in low-texture regions. So far, these systems have been evaluated only on texture-rich benchmark sequences. We present a controlled study that isolates this interaction. We render synthetic indoor sequences in which surface texture (four levels, quantified by FAST-corner density and image-gradient entropy) and scene dynamics (three levels) are varied factorially along identical camera trajectories, with stereo, RGB-D, ground-truth poses and dynamic masks. On this grid we compare ORB-SLAM2 without filtering, with an optica...
| Authors | Zekui Xue |
|---|---|
| Primary category | cs.RO |
| Published | 2 October 2026 |
| Last updated at source | 2 October 2026 |
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