Data frame aware optimized Octomap-based dynamic object detection and removal in Mobile Laser Scanning data

Zhenyu Liu*, Peter van Oosterom, Jesús Balado, Arjen Swart, Bart Beers

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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The Mobile Laser Scanning (MLS) data inevitably includes dynamic objects because there are always other vehicles (e.g., other cars, motorbikes, bikes, etc.) moving in the area near the MLS data collection vehicle on the road. These dynamic objects need to be removed in advance for many point cloud applications. This paper designs an efficient and memory-friendly data frame aware optimized Octomap-based dynamic object detection and removal method for MLS data. Firstly, the input MLS data is split into multiple data frames based on the timestamp. Each data frame is inserted into a separate Octomap with part of its neighbouring data frames. A statistics-based method is applied to each data frame to find the passable voxel cell space (free space) in Octomap and all points in the free space are extracted as free points. Second, the region of interest (ROI) related to the dynamic object is delineated to retain free points related to dynamic objects. Then the free-point rate and the multi-return rate are calculated to further remove noise and vegetation points from free points. Finally, the fixed radius search is used to extract dynamic objects from the filtered free points. The proposed method is tested in four case sites in Delft, the Netherlands. Results show that 84.98% of dynamic objects are detected and extracted correctly. The proposed method is 18.27% more efficient on average than the original Octomap method, can be further accelerated by parallel computing, and only needs 39.40% of the maximum memory consumption.

Original languageEnglish
Pages (from-to)327-344
Number of pages18
JournalAlexandria Engineering Journal
Publication statusPublished - 2023


  • Dynamic Object Detection
  • Dynamic Object Removal
  • LiDAR Data
  • Mobile Laser Scanning
  • Octomap
  • Point Cloud

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