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While Simultaneous Localization and Mapping (SLAM) techniques excel in static settings, issues like keyframe redundancy and optimization inefficiencies further hinder their practical deployment on robotic platforms. To address these challenges, we propose DKB-SLAM, a real-time RGB-D visual SLAM system specifically designed to enhance robotic autonomy in complex dynamic scenes. DKB-SLAM integrates optical flow with Gaussian-based depth distribution analysis within YOLO detection frames to efficiently filter dynamic points, crucial for maintaining accurate pose estimates for the robot. An adaptive keyframe selection strategy balances map density and information integrity using a sliding window, considering the robot\u2019s motion dynamics through parallax, visibility, and matching quality. Furthermore, a heterogeneously weighted local bundle adjustment (BA) method leverages map point geometry, assigning higher weights to stable edge points to refine the robot\u2019s trajectory. Evaluations on the TUM RGB-D benchmark and, crucially, on a mobile robot platform in real-world dynamic scenarios, demonstrate that DKB-SLAM outperforms state-of-the-art methods, providing a robust and efficient solution for high-precision robot localization and mapping in dynamic environments.<\/jats:p>","DOI":"10.3390\/robotics14100134","type":"journal-article","created":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T12:48:28Z","timestamp":1758804508000},"page":"134","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["DKB-SLAM: Dynamic RGB-D Visual SLAM with Efficient Keyframe Selection and Local Bundle Adjustment"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7267-7545","authenticated-orcid":false,"given":"Qian","family":"Sun","sequence":"first","affiliation":[{"name":"College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-8250-1994","authenticated-orcid":false,"given":"Ziqiang","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8811-6379","authenticated-orcid":false,"given":"Yibing","family":"Li","sequence":"additional","affiliation":[{"name":"College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7466-0234","authenticated-orcid":false,"given":"Yidan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Institute of Space Information Innovation, Chinese Academy of Sciences, Beijing 100094, China"}]},{"given":"Fang","family":"Ye","sequence":"additional","affiliation":[{"name":"College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"ORB-SLAM2: An open-source SLAM system for monocular, stereo, and RGB-D cameras","volume":"33","year":"2017","journal-title":"IEEE Trans. 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