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The costmap raytraces to clear out obstacles. This means that for obstacles to be cleared out of the map the space they occupy needs to be seen through by a new observation. If you're using the 2D grid representation for the costmap, this just means seeing through any part of the column of space in the world above the occupied cell. If you're using the 3D voxel grid representation of the costmap, this means seeing through a 3D grid cell that contains the old obstacle. If your tilting laser doesn't see through enough of these 3D cells, meaning the scan isn't dense enough, its possible to leave some obstacles hanging.
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