A residual-based heuristic separates dynamic from static LiDAR points, enabling 14 ms dynamic object detection and tracking within a real-time odometry pipeline.
Requirements and challenges for auton- omy and assistance functions for ground rescue robots in reconnais- sance missions,
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Efficient Dynamic LiDAR Odometry for Mobile Robots with Structured Point Clouds
A residual-based heuristic separates dynamic from static LiDAR points, enabling 14 ms dynamic object detection and tracking within a real-time odometry pipeline.