# PCR-ORB: Enhanced ORB-SLAM3 with Point Cloud Refinement Using Deep Learning-Based Dynamic Object Filtering

arXiv: https://arxiv.org/abs/2512.23318 · HTML: https://mlsanity.com/paper/2512.23318/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 14 of its 51 references that are in the map.
- First posted on arXiv 29 Dec 2025.

## Builds on (most cited first, 14 of 14)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [A Review on Deep Learning Techniques Applied to Semantic Segmentation](https://mlsanity.com/paper/1704.06857/) (2017)
- [The Limits and Potentials of Deep Learning for Robotics](https://mlsanity.com/paper/1804.06557/) (2018)
- [Visual-Inertial Monocular SLAM with Map Reuse](https://mlsanity.com/paper/1610.05949/) (2016)
- [CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations](https://mlsanity.com/paper/2107.08994/) (2021)
- [RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting](https://mlsanity.com/paper/2412.01217/) (2024)

## Abstract (arXiv)

Visual Simultaneous Localization and Mapping (vSLAM) systems encounter substantial challenges in dynamic environments where moving objects compromise tracking accuracy and map consistency. This paper introduces PCR-ORB (Point Cloud Refinement ORB), an enhanced ORB-SLAM3 framework that integrates deep learning-based point cloud refinement to mitigate dynamic object interference. Our approach employs YOLOv8 for semantic segmentation combined with CUDA-accelerated processing to achieve real-time performance. The system implements a multi-stage filtering strategy encompassing ground plane estimation, sky region removal, edge filtering, and temporal consistency validation. Comprehensive evaluation on the KITTI dataset (sequences 00-09) demonstrates performance characteristics across different environmental conditions and scene types. Notable improvements are observed in specific sequences, with sequence 04 achieving 25.9% improvement in ATE RMSE and 30.4% improvement in ATE median. However, results show mixed performance across sequences, indicating scenario-dependent effectiveness. The implementation provides insights into dynamic object filtering challenges and opportunities for robust navigation in complex environments.