# Problem with SLAM

**URL:** <https://forum.rtmaps.com/t/problem-with-slam/192>\
**Category:** RTMaps Studio\
**Tags:** how-to\
**Created:** [June 20, 2025, 2:28pm UTC](https://forum.rtmaps.com/t/problem-with-slam/192 "2025-06-20T14:28:44Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![xyc12138](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/xyc12138/32/107_2.png) [@xyc12138](https://forum.rtmaps.com/u/xyc12138)\
**Post date:** [June 20, 2025, 2:28pm UTC](https://forum.rtmaps.com/t/problem-with-slam/192/1 "2025-06-20T14:28:44Z")

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Hello, I am a student. I have a problem with RTMaps. The first question is about coreslam, when generating SLAM graphics in real time some obstacles like chairs, boxes are recognized as white rectangles with red borders, I would like to know what parameters cause this and if it can be solved.

 ![屏幕截图 2025-06-17 104425](https://forum.rtmaps.com/uploads/default/original/1X/5001a2635982df6811d26fc3f94f716cf0eeb7b7.png)

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**Author:** ![Teo](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/teo/32/10_2.png) [@Teo](https://forum.rtmaps.com/u/Teo)\
**Post date:** [June 20, 2025, 2:55pm UTC](https://forum.rtmaps.com/t/problem-with-slam/192/2 "2025-06-20T14:55:11Z")

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Hello,

I assume you have access to Exwayz sample diagram and component.

The Exwayz _pre\_viewer_ component “makes” the shapes and adds color.  
On top of that, our _3D viewer_ can also add color to its inputs depending on the data type.

So if we take the sample diagram, _pre viewer_ makes the white square but let’s the _3D viewer_ color the line red.

If you change the Uniform color on _pre viewer_ to this you should get blue boxes outlined in red.

 ![image](https://forum.rtmaps.com/uploads/default/original/1X/7c28f0f81070169f2a96226742e3b6451f2550d3.png)

The color red is set the _3D viewer_ Object properties :

 ![image](https://forum.rtmaps.com/uploads/default/original/1X/cfbcf21adab048142b3e6cd70cbe95aab5e3e7c5.png)

Best regards,

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**Author:** ![niko](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/niko/32/33_2.png) [@niko](https://forum.rtmaps.com/u/niko)\
**Post date:** [June 20, 2025, 9:08pm UTC](https://forum.rtmaps.com/t/problem-with-slam/192/3 "2025-06-20T21:08:55Z")

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In CoreSLAM, those white boxes are detections of moving objects (e.g. pedestrians).  
They have no influence on the map itself.  
With property “output moving objects” you can create an output which provides a description of these moving objects instead of just having them displayed on the map.

In case of chairs or so, I bet they are false positives.

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<div class="post-metadata">

**Author:** ![xyc12138](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/xyc12138/32/107_2.png) [@xyc12138](https://forum.rtmaps.com/u/xyc12138)\
**Post date:** [June 22, 2025, 7:57am UTC](https://forum.rtmaps.com/t/problem-with-slam/192/4 "2025-06-22T07:57:31Z")

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I would like to know what can be done to solve or minimize these types of false positives. Because when using path planning, the white box is not seen as an obstacle and the path planning goes through it, which can lead to incorrect path planning. The screenshot below shows my coreslam parameters.

 ![coreslam](https://forum.rtmaps.com/uploads/default/original/1X/6f562c12bfca966de091a6088ddd72f9d1cd56bf.png)

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<div class="post-metadata">

**Author:** ![niko](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/niko/32/33_2.png) [@niko](https://forum.rtmaps.com/u/niko)\
**Post date:** [June 24, 2025, 2:16pm UTC](https://forum.rtmaps.com/t/problem-with-slam/192/5 "2025-06-24T14:16:10Z")

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Hello,

On this URL, you can find a new version of the CoreSLAM component that exposes properties to configure the moving objets detection.  
[https://dl.intempora.com/rtmaps\_store/rtmaps\_minesparistech\_coreslam\_win\_x86\_64.zip](https://dl.intempora.com/rtmaps_store/rtmaps_minesparistech_coreslam_win_x86_64.zip)

 ![image](https://forum.rtmaps.com/uploads/default/original/1X/c6d0b649981acbb57a773263ec991c33a12d2a5a.png)

In the “Moving objects” section, increase the sensitivity to reduce the number of false positives for instance.

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<div class="post-metadata">

**Author:** ![xyc12138](https://forum.rtmaps.com/user_avatar/forum.rtmaps.com/xyc12138/32/107_2.png) [@xyc12138](https://forum.rtmaps.com/u/xyc12138)\
**Post date:** [October 9, 2025, 10:52am UTC](https://forum.rtmaps.com/t/problem-with-slam/192/6 "2025-10-09T10:52:57Z")

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Hi,niko.My professor asked me if there is an official documentation explaining the parameters in coreslam. Could you provide it?