How to deal with dyanmic objects in the environments.

[TurtleZhong]

Hi, the moving object (like people)would easily remain on the borderlines of point clouds when I generated the TSDF data. The result of this is that when the person walks away, the robot thinks that there is still an obstacle, which in turn affects the path of autonomous exploration. Is there a way to solve this problem? Thanks!

[MihirDharmadhikari]

Hi @TurtleZhong ,

This can be fixed by increasing this parameter in the voxblox_config_file.
Set it somewhere around 0.5 - 0.7.
Let me know if it helps.

Best regards,
Mihir