Visual SLAM with motion consistency-constrained dynamic feature elimination

Traditional visual SLAM methods are built on the strong assumption that the system operates in static environments, with limited consideration of moving objects. This assumption often leads to significant performance degradation when dynamic elements are present. To mitigate the impact of moving objects and enhance both localization accuracy and mapping quality, we propose a visual SLAM framework that explicitly removes dynamic object interference from the visual odometry and mapping modules. First, we refine the data association process in visual odometry by introducing motion consistency constraints, which reduce incorrect feature matches and thereby improve pose estimation accuracy. At the same time, depth information from RGB-D sensors is used to validate potentially dynamic feature points. Second, within the mapping module, we formulate keyframe selection as a vertex cover problem to ensure the local representativeness of keyframes. This approach not only reduces mapping artifacts but also enables the comprehensive detection and removal of dynamic objects. Finally, experiments conducted on the TUM RGB-D dataset demonstrate that our system achieves higher accuracy, robustness, and stability compared to baseline methods.