Fig. 1. Schematic of generating the virtual map points

Fig. 2. (a) Schematic of the object motion vector angle; (b) corresponding result of GMM

Fig. 3. Diagram of the algorithm

Fig. 4. Results of motion object detection

Fig. 5. Schematic of local map

Fig. 6. Results of the contrast experiment on TUM dataset

Fig. 7. Bumblebee2 stereo camera

Fig. 8. Route of the moving person

Fig. 9. Results of online experiment based on ORB-SLAM2 method. (a) Estimated trajectory of camera; (b) error of the estimated position of camera; (c)-(h) image frames and poses of camera corresponding to position A-F

Fig. 10. Results of online experiment based on proposed algorithm. (a) Estimated trajectory of camera; (b) error of the estimated position of camera; (c)-(h) image frames and poses of camera corresponding to position A-F