is the moving object raytracing open sourced?

[JzHuai0108]

Dear authors,

Thanks for open sourcing tare.
From the paper "Representation granularity enables time-efficient autonomous exploration in large, complex worlds", we see that the spherical voxel grid ray-tracing method "Dynamic obstacles detection and 3D map updating" is used for removing dynamic obstacles and outliers from glasses. Is the method open sourced in some of your repos?

With a brief browsing of tare repo, I failed to locate the corresponding implementation.

Regards,