DynaInsRemover: A Real-time Dynamic Instance-Aware Static 3D LiDAR Mapping Framework for Dynamic Environment
Huanfeng Zhao,Meibao Yao,Xueming Xiao,Bo Zheng,Huanfeng Zhao,Meibao Yao,Xueming Xiao,Bo Zheng
Dynamic objects diversify the distribution of point cloud in the map, degrading the performance of the robotic downstream tasks. To address this problem, we present a novel real-time dynamic instance-aware static mapping framework called DynaInsRemover, which exploits the geometric discrepancies between instances to efficiently remove dynamic objects and preserve more details of static map. It con...
