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-tp4735p8255.html
Hi,
some related parameters to occupancy grid thresholds: https://github.com/introlab/rtabmap_ros/issues/269#issuecomment-413649116
For the problem of clearing obstacles from OctoMap, here is an example:
If the field of view of the camera cannot see the whole space where the object disapeared, there will be remaining occupied cells outside the clearing field-of-view of the camera. A workaround could be to set Grid/3D to false, though you may lost track of 3D obstacles.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-rtabmap-deal-with-dynamic-objects-tp4735p8255.html
Hi,
some related parameters to occupancy grid thresholds: https://github.com/introlab/rtabmap_ros/issues/269#issuecomment-413649116
For the problem of clearing obstacles from OctoMap, here is an example:
If the field of view of the camera cannot see the whole space where the object disapeared, there will be remaining occupied cells outside the clearing field-of-view of the camera. A workaround could be to set Grid/3D to false, though you may lost track of 3D obstacles.
cheers,
Mathieu
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