Most measurement models, including ours, assume that the LiDAR data they are receiving is from a static map with no dynamic objects present. While most measurement models are robust to dynamic objects, it does have an impact on the overall accuracy of the measurement model. Ideally, we would have some type of method that could remove dynamic objects from the LiDAR data and feed the rest of the data to the measurement model.
Most measurement models, including ours, assume that the LiDAR data they are receiving is from a static map with no dynamic objects present. While most measurement models are robust to dynamic objects, it does have an impact on the overall accuracy of the measurement model. Ideally, we would have some type of method that could remove dynamic objects from the LiDAR data and feed the rest of the data to the measurement model.