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These dynamic points are often represented by people in indoor environments, but in industrial settings with moving machinery, there can be various types of dynamic points. This study introduces DynaHull, a novel technique designed to enhance indoor mapping accuracy by effectively removing dynamic points from point clouds. DynaHull works by leveraging the observation that, over multiple scans, stationary points have a higher density compared to dynamic ones. Furthermore, DynaHull addresses mapping challenges related to unevenly distributed points by clustering the map into smaller sections. In each section, the density factor of each point is determined by dividing the number of neighbors by the volume these neighboring points occupy using a convex hull method. The algorithm removes the dynamic points using an adaptive threshold based on the point count of each cluster, thus reducing the false positives. The performance of DynaHull was compared to state-of-the-art techniques, such as ERASOR, Removert, OctoMap + SOR , and Dynablox, by comparing each method to the ground truth map created during a low activity period in which only a few dynamic points were present. The results indicated that DynaHull outperformed these techniques in various metrics, noticeably in the Earth Mover\u2019s Distance, false negatives and false positives. The data and code for DynaHull are available at <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"uri\" xlink:href=\"https:\/\/github.com\/Pejman712\/DynaHull.git.\">https:\/\/github.com\/Pejman712\/DynaHull.git.<\/jats:ext-link><\/jats:p>","DOI":"10.1007\/s10846-024-02203-2","type":"journal-article","created":{"date-parts":[[2024,11,26]],"date-time":"2024-11-26T07:53:58Z","timestamp":1732607638000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["DynaHull: Density-centric Dynamic Point Filtering in Point Clouds"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5678-6186","authenticated-orcid":false,"given":"Pejman","family":"Habibiroudkenar","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0865-1775","authenticated-orcid":false,"given":"Risto","family":"Ojala","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9376-2386","authenticated-orcid":false,"given":"Kari","family":"Tammi","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,11,26]]},"reference":[{"key":"2203_CR1","volume":"40","author":"A Loganathan","year":"2023","unstructured":"Loganathan, A., Ahmad, N.S.: A systematic review on recent advances in autonomous mobile robot navigation. 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