Remove moving objects from the map

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

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Remove moving objects from the map #175

Closed ikhann closed 2 years ago

ikhann commented 3 years ago

Hello,

Do you have any ideas about how to detect and remove moving objects (pedestrian crossing the road, moving cars) from the generated 3d map or from each lidar scan on the prefiltering phase?

Thank you for advising me!

koide3 commented 3 years ago

Probably, you can do some segmentation to find moving objects and then remove them from the input cloud before feeding it to the prefiltering nodelet

ikhann commented 2 years ago

Hi @koide3! I have added a support of hdl_graph_slam format for removing dynamic points from map using Removert. It works great!

Pull request https://github.com/irapkaist/removert/pull/15

koide3 commented 2 years ago

Hi @ikhann , I'm so happy to see your attempt to connect hdl_graph_slam with Removert. Thanks a lot for letting me know that :smile: