How to avoid detecting obstacles passing in front of a running robot?

Posted by miraikaihatsu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-avoid-detecting-obstacles-passing-in-front-of-a-running-robot-tp10040.html

Hi, matlabbe
I have a robot with 2D LiDAR and a RGBD camera. While robot is running, if a person crosses in front of the robot, it remain as an obstacle. Is there a setting that prevents this object from remaining? I know from previous posts that the Grid/RayTracing=true setting can remove dynamic objects, and I have actually tried this method and confirmed that it removes them gradually. However, when the robot runs around the remaining Octomap objects, it does not disappear completely. I want to know how to not detect dynamic objects or how to remove them easily.
Thank you!