@inproceedings{bf2f516216344c58a9074efbb827b419,
title = "Real-Time Dynamic Object Elimination in ORB-SLAM3 for UAV Navigation Using YOLOv11: A Simulation-Based Approach",
abstract = "Real-time SLAM for UAVs operating in dynamic environments presents significant challenges owing to interference from moving objects, degradation of feature tracking, and localization accuracy. This study introduces a YOLOv11-integrated ORB-SLAM3 framework to eliminate dynamic object features in real-time. The system leverages a TensorRT-optimized YOLOv11 detector running parallel to ORB-SLAM3's GPU-accelerated tracking thread, ensuring low-latency inference and minimal tracking disruption. Experiments conducted using Microsoft AirSim{\textquoteright}s photorealistic urban simulation demonstrated substantial performance gains. In the long-duration, high-dynamic scenario, the proposed system reduced the Absolute Trajectory Error (ATE) RMSE from 0.0536 m (baseline) to 0.0026 m, representing a 95.2\% improvement. The SLAM tracking thread sustained \textasciitilde{} 74 FPS, whereas the YOLOv11 detector operated asynchronously at \textasciitilde{} 22 FPS. These results confirm that dynamic object filtering using YOLOv11 can significantly enhance SLAM accuracy without compromising real-time performance.",
keywords = "Dynamic Object Filtering, ORB-SLAM3, Real-time SLAM, UAV Navigation, YOLOv11",
author = "Soe, \{Htet Paing\} and Liangyu Zhao and Yeqing Zhu and Raza, \{Syeda Amna\} and Adam, \{Alkhalil Siddick\} and Ur, \{Rehman Maqsood\}",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 8th China Intelligent Networked Things Conference, CINT 2025 ; Conference date: 13-06-2025 Through 15-06-2025",
year = "2026",
doi = "10.1007/978-981-95-1106-8\_29",
language = "English",
isbn = "9789819511051",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "307--315",
editor = "Lin Zhang and Wensheng Yu and Yuanjun Laili and Ting Qu",
booktitle = "Intelligent Networked Things - 8th China Intelligent Networked Things Conference, CINT 2025, Proceedings",
address = "Germany",
}