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ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping
March 11, 2024, 4:44 a.m. | Jiabao Zhang, Yu Zhang
cs.CV updates on arXiv.org arxiv.org
Abstract: Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy for effective dynamic object removal. To begin, we introduce the Height Coding Descriptor, which combines …
abstract arxiv challenges cloud coding cs.cv cs.ro dynamic generated however location map mapping maps navigation object objects role sensors systems traces type
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