# RH-Map: Online Map Construction Framework of Dynamic Objects Removal Based on Region-wise Hash Map Structure

arXiv: https://arxiv.org/abs/2307.00599 · HTML: https://mlsanity.com/paper/2307.00599/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Jul 2023.

## Built on by (most cited first, 2 of 2)

- [BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps](https://mlsanity.com/paper/2405.07283/) (2024)
- [HIF: Height Interval Filtering for Efficient Dynamic Points Removal](https://mlsanity.com/paper/2503.06863/) (2025)

## Abstract (arXiv)

Mobile robots navigating in outdoor environments frequently encounter the issue of undesired traces left by dynamic objects and manifested as obstacles on map, impeding robots from achieving accurate localization and effective navigation. To tackle the problem, a novel map construction framework based on 3D region-wise hash map structure (RH-Map) is proposed, consisting of front-end scan fresher and back-end removal modules, which realizes real-time map construction and online dynamic object removal (DOR). First, a two-layer 3D region-wise hash map structure of map management is proposed for effective online DOR. Then, in scan fresher, region-wise ground plane estimation (R-GPE) is adopted for estimating and preserving ground information and Scan-to-Map Removal (S2M-R) is proposed to discriminate and remove dynamic regions. Moreover, the lightweight back-end removal module maintaining keyframes is proposed for further DOR. As experimentally verified on SemanticKITTI, our proposed framework yields promising performance on online DOR of map construction compared with the state-of-the-art methods. And we also validate the proposed framework in real-world environments.