GitHub repository

Uses a 'remove-then-revert' approach to carefully preserve static structures while filtering dynamic points, ensuring high accuracy as detailed in the IROS 2020 paper.

Employs range images at multiple resolutions to balance detection accuracy and computational speed, making it effective for large datasets like KITTI and MulRan.

Seamlessly works with ROS for parameter handling and visualization, with provided launch files for easy setup on datasets like KITTI, despite operating offline.

Designed to complement online methods like LiDAR-MOS, enabling hybrid approaches where Removert handles finer offline cleaning after coarse deep learning removal.