A residual-based heuristic separates dynamic from static LiDAR points, enabling 14 ms dynamic object detection and tracking within a real-time odometry pipeline.
ERASOR: Egocentric Ratio of Pseudo Occupancy-based Dynamic Object Removal for Static 3D Point Cloud Map Building,
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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.