This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support navigation. By capitalising on the motion estimations provided by Dynamic SLAM, DynORecon continuously refines the representation of dynamic objects to eliminate residual artefacts from past observations and incrementally reconstructs each object, seamlessly integrating new observations to capture previously unseen structures. Our system is highly efficient (~20 FPS) and produces accurate (~10 cm) reconstructions of dynamic objects using simulated and real-world outdoor datasets.

翻译：本文提出了DynORecon，一种动态物体重建系统，该系统利用动态SLAM提供的信息，在估计自由空间以支持导航的同时，生成已观测移动实体的体素地图。通过利用动态SLAM提供的运动估计，DynORecon持续优化动态物体的表示，以消除来自过去观测的残留伪影，并增量式地重建每个物体，无缝地整合新的观测以捕获先前未观测到的结构。我们的系统具有高效率（约20 FPS），并在模拟和真实室外数据集上生成了精确（约10厘米）的动态物体重建。