Algorithm 2. Dynamic feature-filtering strategy

Input: image sequence

Output: static ORB features

Extract ORB features and filter it using sematic bounding box generated by YOLO

Match the rest ORB features with the previous frame based on the optical flow approach

Calculate the fundamental matrix between the two frames

for every matched feature pair i do

if i is in the Dyn do

if $D<e_1\theta$ do

i append to Kps

end if

else

if $D<e_2\theta$ do

i append to Kps

end if

end if

end for