Moving Objects in SLAM Output

[bfan1256]

Hi there!

Does anyone have any thoughts or suggestions on how / whether to use LVI-SAM in more dynamic environments (lots of moving objects including urban environments or indoor scenes)?

I saw previously that LIO-SAM you can utilize Scan Context + Removert and there was a recent paper RF-LIO that focused on object removal, but I would like to utilize the additional VIO data for better map quality while also being able to filter out for moving objects (ideally I would also like to get a track for the moving objects as well or at least the points associated).

Any thoughts on this?

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.