[Retracted] A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes

Figure 6

Dynamic object removal. (a) Before removal, the foot of the woman in red is detected, leaving a gray occupying grid and point cloud in the generated submap. (b) After removal, the woman in red walked through the machine and not appeared on the point cloud again. The Cartographer algorithm used formula (2) to update the occupied grid of basket position in (a) to the nonoccupied state, and the proposed algorithm in section C removes the point cloud of the woman in red.

(a)

(b)