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<!doctype html>
<html lang="ja">
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Dynamic 3D Object Removal</title>
<meta name="description" content="Numpy-only dynamic object removal for LiDAR point clouds. Public AV2 sequence demo, ROS2 realtime node, and proof that cleaned accumulation reduces ghost contamination." />
<meta property="og:title" content="Dynamic 3D Object Removal" />
<meta property="og:description" content="Numpy-only dynamic object removal for LiDAR point clouds with public AV2 demos and ROS2 realtime support." />
<meta property="og:type" content="website" />
<meta property="og:url" content="https://rsasaki0109.github.io/dynamic-3d-object-removal/" />
<meta property="og:image" content="https://rsasaki0109.github.io/dynamic-3d-object-removal/demo/social_card.png" />
<meta property="og:image:width" content="1200" />
<meta property="og:image:height" content="630" />
<meta name="twitter:card" content="summary_large_image" />
<meta name="twitter:title" content="Dynamic 3D Object Removal" />
<meta name="twitter:description" content="Numpy-only dynamic object removal for LiDAR point clouds with public AV2 demos and ROS2 realtime support." />
<meta name="twitter:image" content="https://rsasaki0109.github.io/dynamic-3d-object-removal/demo/social_card.png" />
<style>
:root {
--bg: #eef4f7;
--panel: rgba(255, 255, 255, 0.82);
--panel-strong: rgba(255, 255, 255, 0.94);
--line: rgba(15, 23, 42, 0.12);
--text: #102033;
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--accent: #0f766e;
--accent-strong: #115e59;
--warm: #c2410c;
--shadow: 0 22px 60px rgba(15, 23, 42, 0.10);
}
* { box-sizing: border-box; }
body {
margin: 0;
min-height: 100vh;
color: var(--text);
font-family: "Trebuchet MS", "Hiragino Kaku Gothic ProN", "Yu Gothic", sans-serif;
background:
radial-gradient(circle at 8% 10%, rgba(194, 65, 12, 0.10), transparent 26%),
radial-gradient(circle at 88% 12%, rgba(15, 118, 110, 0.14), transparent 24%),
linear-gradient(180deg, #f8fbfd 0%, #e9f1f6 48%, #f2f6f9 100%);
}
.wrap {
max-width: 1120px;
margin: 0 auto;
padding: 28px 20px 56px;
}
.hero {
display: grid;
grid-template-columns: minmax(0, 1.3fr) minmax(280px, 0.9fr);
gap: 18px;
align-items: stretch;
}
.panel {
border: 1px solid var(--line);
border-radius: 28px;
background: var(--panel);
box-shadow: var(--shadow);
backdrop-filter: blur(14px);
}
.hero-copy {
padding: 28px;
}
.eyebrow {
display: inline-flex;
align-items: center;
gap: 8px;
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border-radius: 999px;
background: rgba(15, 118, 110, 0.10);
color: var(--accent-strong);
font-size: 12px;
font-weight: 700;
letter-spacing: 0.08em;
text-transform: uppercase;
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margin: 14px 0 12px;
font-size: clamp(34px, 5vw, 58px);
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letter-spacing: -0.03em;
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margin-top: 22px;
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.stat {
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background: var(--panel-strong);
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.stat strong {
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font-size: 24px;
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.stat span {
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color: var(--muted);
font-size: 13px;
line-height: 1.5;
}
.actions {
display: flex;
flex-wrap: wrap;
gap: 12px;
margin-top: 22px;
}
.btn, .card-link {
text-decoration: none;
}
.btn {
display: inline-flex;
align-items: center;
justify-content: center;
min-width: 220px;
padding: 14px 18px;
border-radius: 14px;
font-weight: 700;
}
.btn.primary {
background: linear-gradient(135deg, var(--accent) 0%, var(--accent-strong) 100%);
color: #fff;
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.btn.secondary {
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background: rgba(255, 255, 255, 0.76);
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.hero-note {
padding: 24px;
display: grid;
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.hero-note h2,
.section-title {
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text-transform: uppercase;
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}
.proof-list,
.demo-list {
display: grid;
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}
.proof-item {
padding: 12px 14px;
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background: var(--panel-strong);
border: 1px solid rgba(15, 23, 42, 0.08);
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.proof-item strong {
display: block;
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.proof-item span {
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box-shadow: var(--shadow);
color: inherit;
}
.card-link.primary {
background:
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rgba(255, 255, 255, 0.92);
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.card-link strong {
display: block;
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.card-link p {
margin: 10px 0 0;
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}
.card-link .meta {
display: inline-block;
margin-top: 14px;
color: var(--warm);
font-size: 13px;
font-weight: 700;
}
.footer {
margin-top: 20px;
color: var(--muted);
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}
.footer a {
color: var(--accent-strong);
text-decoration: none;
}
@media (max-width: 920px) {
.hero,
.grid {
grid-template-columns: 1fr;
}
.stats {
grid-template-columns: 1fr;
}
}
</style>
</head>
<body>
<div class="wrap">
<section class="hero">
<div class="panel hero-copy">
<div class="eyebrow">Public AV2 Demo</div>
<h1>動的物体で汚れた LiDAR map を、DL なしで掃除する</h1>
<p class="lead">単発スキャンは 3D bounding box crop で、map accumulation は temporal filtering で掃除します。まずは AV2 公開 sequence demo で、raw accumulation に残る ghost contamination がどう減るかを見るのが最短です。</p>
<div class="stats">
<div class="stat">
<strong>20 frames</strong>
<span>AV2 sequence を pose-aligned に accumulated</span>
</div>
<div class="stat">
<strong>2M points</strong>
<span>raw accumulation 規模の実データ proof</span>
</div>
<div class="stat">
<strong>233k removed</strong>
<span>ghost points を 11.9% 除去</span>
</div>
</div>
<div class="actions">
<a class="btn primary" href="demo/index_3d_sequence_av2.html">まずは AV2 公開デモ</a>
<a class="btn secondary" href="https://github.com/rsasaki0109/dynamic-3d-object-removal/blob/master/README.md">README を読む</a>
</div>
</div>
<aside class="panel hero-note">
<h2>What It Proves</h2>
<div class="proof-list">
<div class="proof-item">
<strong>raw accumulation は残像を作る</strong>
<span>moving objects を積み上げると、map 側に ghost contamination が残ります。</span>
</div>
<div class="proof-item">
<strong>cleaned accumulation はそれを減らす</strong>
<span>box-driven removal や temporal consistency で、raw-only clutter を抑えます。</span>
</div>
<div class="proof-item">
<strong>静的構造は残す</strong>
<span>道路、建物、縁石など、persistent structure を map に残すのが主眼です。</span>
</div>
</div>
</aside>
</section>
<section class="grid">
<a class="card-link primary" href="demo/index_3d_sequence_av2.html">
<strong>AV2 Public Sequence Demo</strong>
<p>公開データだけで再現できる 20-frame proof。per-frame boxes と pose alignment で raw と cleaned を比較します。</p>
<span class="meta">Start here</span>
</a>
<a class="card-link" href="demo/index_3d_sequence_standalone.html">
<strong>Local Sequence Proof Demo</strong>
<p>checked-in の local sequence proof。temporal consistency ベースで raw accumulation と cleaned accumulation を比較します。</p>
<span class="meta">Secondary proof</span>
</a>
<a class="card-link" href="demo/index_3d_standalone.html">
<strong>Single-Scan Demo</strong>
<p>1 フレームの point cloud から動的物体だけを消す最短の visual sanity check です。</p>
<span class="meta">Fastest visual check</span>
</a>
</section>
<div class="footer">
GitHub: <a href="https://github.com/rsasaki0109/dynamic-3d-object-removal">rsasaki0109/dynamic-3d-object-removal</a><br />
すべての demo 一覧は <a href="demo/">demo/</a> を参照してください。
</div>
</div>
</body>
</html>