Simultaneous Localization and Mapping (SLAM) is a fundamental methodology that underpins autonomous navigation in robotic systems. Conventional approaches perform well in static environments but rely on the assumption of environmental rigidity, which leads to significant accuracy degradation in dynamic environments. To address this challenge, this study presents RTS-SLAM, a real-time semantic visual SLAM system designed for dynamic environments. Based on the ORB-SLAM2 framework, a multi-layer, constraint-driven dynamic feature-rejection strategy is introduced. The proposed approach first removes dynamic features by combining semantic information with geometric constraints. Subsequently, residual dynamic points are eliminated via trajectory-consistency constraint analysis, thereby effectively improving localization accuracy. Furthermore, a dense mapping strategy featuring global sparsification and critical region refinement is proposed. By reducing redundancy in the dense point cloud, the method decreases memory usage while preserving important object geometries. Experimental evaluations on the TUM RGB-D and Bonn datasets indicate that RTS-SLAM reduces the average absolute trajectory error by more than 95% compared with ORB-SLAM2 in dynamic environments. Meanwhile, the system maintains real-time performance and achieves high localization accuracy in dynamic environments.

Traditional visual SLAM systems often suffer from localization drift in dynamic environments due to interference from moving objects. Although semantic segmentation and depth-based masking methods have improved performance, they may still suffer from boundary under-segmentation and missed detections due to truncation of dynamic objects. To address these challenges, we propose a cascaded framework, DMSG-SLAM, a cascaded visual SLAM system that fuses Depth-Mask, Semantic information and Geometry constraints for dynamic environments. A lightweight object detection network, combined with depth consistency, is first employed to generate instance-like masks for preliminary dynamic feature removal. Then, a rotation-aware local epipolar geometric filtering mechanism is introduced to suppress residual features near object boundaries and mitigate perceptual blind spots caused by occlusion or truncation. Within potential dynamic regions, the epipolar threshold is adaptively switched according to the estimated inter-frame rotation to provide a more conservative filtering effect under challenging motion conditions. In addition, a TSDF-based dense volumetric map is incorporated to reconstruct more consistent surfaces. Experiments on highly dynamic sequences from the TUM RGB-D dataset indicate that DMSG-SLAM achieves competitive accuracy in dynamic environments, with localization performance improving by up to 90% compared to ORB-SLAM2.