Hello,
I have a question regarding the nvblox decay rate. is this decay rate even for all the voxels in the grid or certain directions have little decay. we have tested the map with a single camera steady. and when a person moves ( not dynamic mode but normal realsense example) , we see an uneven decay. thank you for your answer .
Welcome to the Isaac ROS forum
The decay is not direction-dependent. It is expected to be even for all voxels in the grid.
A reason for a seemingly uneven decay could be that voxels with lower weights will decay away faster.
The weight of the voxel can depend on:
- How many times the voxel has been observed.
- How far away the voxel is from the camera. Voxels further away receive a lower weight compared to closed voxels.