Re: How does rtabmap deal with dynamic objects?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-rtabmap-deal-with-dynamic-objects-tp4735p5167.html

Hi Felix,

For odometry, as long as most features tracked are from structures that are static, it would not affect too much the performance.

For mapping, if spurious objects are added to map, they will indeed appear in cloud_map. You would then need to use octomap_occupied_space instead in which dynamic objects can be cleared. This has however a cost, as 3D ray tracing should be done.

cheers,
Mathieu