remove moved objects from pointcloud

[tobi]

Hey,

I'm running rtabmap_ros with octomap. Is it possible for e.g. to move a chair and it will be cleared out of the 3D Map?
I checked out the post processing options, but nothing helped.
And another short question: The 2D Occupancy Grid will be updated without problems, on which pointcloud data, does this work (because the first position of the moved object will be cleared out)?

greets
tobias

[matlabbe]

Hi,

how are you running rabmap with octomap? If you use octomap outputs of rtabmap node (/rtabmap/octomap_*** topics), dynamic objects should be cleared (though maybe not instantly as the octomap keeps probability of occupancy).

/rtabmap/proj topic overwrites occupied cells if the ground at this position can be "seen". Unlike octomap, there is no ray tracing, but the camera should see the ground to clear obstacles.

cheers