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-tp4735p5170.html

See Figure 7 of the "RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation" paper:


Parameters are:

Grid/FromDepth=true
Grid/3D=true
Grid/RayTracing=true

To clear moving people, the sensor should be able to see the background (e.g., a wall behind where the person was). If you see Table 10 in the paper, the computation time is quite high when a loop should be closed.

If you don't need 3D point clouds and if only a 2D map from projected 3D obstacles would be enough, consider using the 2D occupancy grid with tracing instead (grid_map):

Grid/FromDepth=true
Grid/3D=false
Grid/RayTracing=true

cheers,
Mathieu