This study introduces the YORB-SLAM algorithm. a novel approach that integrates an enhanced ORB-SLAM2 framework with a lightweight YOLOv5 model to improve the robustness and accuracy of visual SLAM systems in indoor dynamic environments. By incorporating a variable threshold FAST corner detection algorithm. we optimize feature point extraction performance under unstable lighting condi... https://www.shoppurpledoorboutiquers.shop/product-category/flats/