Can this algorithm run in real time？

[nuo-1]

Can this algorithm run with SLAM algorithm (for example ,loam、lego-loam ...),and finally get a cleaner map.
In other words, can the removert algorithm have online version?

[gisbi-kim]

hi @nuo-1
Removert's removal is already near to real-time (i.e., processing a single scan ~ 0.1s)
and I'v'e tested that it could be run in online, please see https://www.youtube.com/watch?v=eVeHmPS8_qE&t=58s
but I concluded that the real-time integration for the following applications such as odometry should be more improved so the source code is still closed.

[nuo-1]

Thank you for your reply！