Re: How does rtabmap deal with dynamic objects?

Posted by PeterGa on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-rtabmap-deal-with-dynamic-objects-tp4735p8127.html

Hi Mathieu,

thanks for your reply. I've attached a screenshot that shows the
environment in which the simulated drone is flying. The simulation world
consists mostly of static objects, except for one model of a human,
which is moving up and down on a straight line. I subscribed to the
topic /octomap_grid and set the three parameters that you've mentioned
to true.

On the rviz-image you can see the result. The clearing of dynamic
obstacles does work to some small degree. Every few seconds, a couple of
obstacle points are removed from the grid map, but most of the dynamic
obstacle points are still there. Is it possible to improve the clearing
performance of the octomap with some parameter changes? For instance an
increased update rate or so?

PS: Do you know,  in which launch file of rtabmap_ros I can find the
parameters Grid/3D and Grid/RayTracing? I couldn't find them so I had to
set them manually to true with rosparam set ...

Thanks for your help.

Best regards,