Re: How does rtabmap deal with dynamic objects?

Posted by FeKl on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-rtabmap-deal-with-dynamic-objects-tp4735p5166.html

Hi Mathieu,

I've another question/remark concerning dynamic objects in a dynamic environment.

I think, the best way is to remove the dynamic object in the depth image (via setting the value to 0 with a corresponding bounding box which surrounds the object). To do this, it could be possible to use an object detection algorithm:
1. Detect the object with the bounding box
2. mask the depth image with the corresponding bounding box
3. feed rtabmap with the rgb image and the masked depth image

But what about the problem if the object detector does not always detect the object? It could be possible that in one frame, a specific object has been detectet, but in the next frame it has NOT been detected. This would affect the 3D map (cloud_map) as well the odometry...

Can you give me some hints how to deal with this problem, especially in ROS and with the published topic "cloud_map"?

Kind regards,

Felix