point cloud object tracking

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Hi,

is there a way to identify a moving object (regardless if it is a human or a ball...) and estimate its position in a 2d or 3d map? I ask because I want to detect dynamic obstacles in order to make a plan adjustment for autonomous robots.

I saw pointcloud library but never tried it. can these methods be integrated with rtab-slam for example? in order to add these dynamic obstacles to the global map.

thanks!