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arXiv · 2605.08937

Raymoval: Raycasting-based Dynamic Object Removal for Static 3D Mapping

Daebeom Kim·Seungjae Lee·Seoyeon Jang·Kevin Christiansen Marsim·Hyun Myung
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Abstract

Static mapping is fundamental to robot navigation, providing a persistent geometric prior and a consistent reference for long-term autonomy. However, dynamic objects leave residual traces and cause surface loss, which reduces map consistency. We propose a raycasting-based module for dynamic object removal in static 3D mapping. Each scan is projected onto an azimuth-elevation grid, and for every viewing direction we compare the bin-wise minimum range with the map's first-hit distance computed by raycasting. Furthermore, we apply a raycast consistency test that separates dynamic from static points. Finally, a spatial consistency validation step refines labels, producing static maps with lower residual dynamics and reduced over-removal. We evaluate our approach quantitatively and qualitatively on SemanticKITTI and a challenging custom dataset, and show consistent static mapping results.

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Daebeom Kim, Seungjae Lee, Seoyeon Jang, Kevin Christiansen Marsim, Hyun Myung. 2026-05-09. Raymoval: Raycasting-based Dynamic Object Removal for Static 3D Mapping. https://arxiv.org/abs/2605.08937

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