Dynamic Obstacles Rejection for 3D Map Simultaneous Updating

We present a simple yet highly efficient method to eliminate spurious trails of dynamic objects for 3-D point cloud map updating. First, we extract the view overlaps based on view frustum filter. Then, we obtain spurious trails via bidirectional searching of view overlaps using a KD tree. Finally, in terms of the situation where moving objects occlude part of background due to the limits of the RGB-D camera, we design a ray tracing principle-based filter to supplement the missing background in the whole point cloud map. Our method can be integrated into any SLAM or 3-D reconstruction systems with RGB-D data input, and it is suitable for both static and dynamic environments. We validate our approach in real-world scenes of our laboratory office using a Kinect system for robot obstacles avoidance and navigation. Moreover, experiments on the KITTI odometry benchmark illustrate that the proposed approach is highly efficient for dynamic spurious trails rejection and 3-D map updating.