Kinect obstacle avoidance: moving obstacles don't clear

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I'm using a sick laser (lms-200) and a kinect camera as my sensors, mounted on a pioneer 3-at. I'm running ros diamondback on ubuntu 10.10, running amcl with the nav stack.

I use both point cloud and laser scan for obstacle avoidance. In rviz, I can see the registered local obstacles through the topic /move_base_node/local_costmap/obstacles. The moving obstacles sensed from point cloud do not clear in rviz, even when they move outside the field of view. This way move_base thinks the obstacles are still there and tries to avoid the non-existent obstacles. Does anyone know how to clear them? Thanks a lot in advance!

Here are the related parameters in my nav stack.

In costmap_common_params:

point_cloud: {sensor_frame: openni_camera, data_type: PointCloud2, topic: /camera/depth/points, expected_update_rate: 5.0, observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: 0.05, max_obstacle_height: 1.0}

In local_costmap_params:

update_frequency: 5; publish_frequency: 1; static_map: false; rolling_window: true