Import Dynamic obstacles in a map

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hello guys, I'm building an autonomous mobile robot and i use 2d lidar scanners to create the map of the area. Besides some stable obstacles such as walls, benches, etc, there are some barrier stripes on the floor which are dynamic obstacles and they change in every run. I have created a custom object detector with a camera which returns a bounding box as detection, but I do not know how to insert these detections as an object inside the map. What should i do? Thanks in advance!