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Abstract. Detection And Tracking of Moving Objects (DATMO) is essential and necessary for mobile mapping system to generate clean and accurate point clouds maps since dynamic targets in real-world scenarios will deteriorate the performance of whole system. In this research, a robust LiDAR-SLAM system is presented incorporated with a real-time dynamic objects removal module to improve the accuracy of 6 DOF pose estimation and precision of maps. The key idea of the proposed method is todoi:10.5194/isprs-archives-xliii-b1-2020-515-2020 fatcat:jjhjrzv6pnbvpihocoydxn3xby