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Removing past data of dynamic objects using static Velodyne LiDAR sensor

This paper presents a method of removing past data of dynamic objects by employing the Velodyne LiDAR sensor to accumulate points. In the first step, a fixed voxel map is created with the sensor position as the center. In the next step, we employ Bresenham's line algorithm to create three-dimensional line segments from the sensor position to all points in the current frame. Each element in the line segment is a voxel, while each line segment is a list of voxels. Finally, past data of moving objects are removed by deleting all points obtained in the previous frames of each line segment.