Fig. 1. Flow chart of our algorithm

Fig. 2. Detection results of the moving target

Fig. 3. Matching results of feature points in static region

Fig. 4. Detection results of dynamic targets. (a) Two-frame difference method; (b) four-frame difference method; (c) noise filtering; (d) morphological processing; (e) segmentation result

Fig. 5. Result of dynamic target detection when the image is blurred. (a) Blurred image; (b) binary image; (c) target detection result; (d) optimized binary image; (e) optimized target detection result

Fig. 6. Feature point extraction results of different algorithms. (a) Original image; (b) feature points extracted by ORB-SLAM2 algorithm; (c) dynamic targets detected by our algorithm; (d) feature points extracted by our algorithm

Fig. 7. Detection results of different algorithms. (a) Original image; (b) YOLO v3 algorithm; (c) YOLO v3+ORB-SLAM2 algorithm; (d) our algorithm

Fig. 8. Trajectories of different algorithms. (a) ORB-SLAM2; (b) ORB-SLAM2+YOLO v3 algorithm; (c) our algorithm