Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments

We propose an on-line algorithm for simultaneous localization and mapping of dynamic environments. Our algorithm is capable of differentiating static and dynamic parts of the environment and representing them appropriately on the map. Our approach is based on maintaining two occupancy grids. One gri...

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Bibliographic Details
Published in:Autonomous robots 2005-07, Vol.19 (1), p.53-65
Main Authors: Wolf, Denis F, Sukhatme, Gaurav S
Format: Article
Language:English
Subjects:
Algorithms
Computer simulation
Environment models
Landmarks
Occupancy
Position (location)
Robots
Simultaneous localization and mapping
Studies
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Summary:We propose an on-line algorithm for simultaneous localization and mapping of dynamic environments. Our algorithm is capable of differentiating static and dynamic parts of the environment and representing them appropriately on the map. Our approach is based on maintaining two occupancy grids. One grid models the static parts of the environment, and the other models the dynamic parts of the environment. The union of the two grid maps provides a complete description of the environment over time. We also maintain a third map containing information about static landmarks detected in the environment. These landmarks provide the robot with localization. Results in simulation and real robots experiments show the efficiency of our approach and also show how the differentiation of dynamic and static entities in the environment and SLAM can be mutually beneficial.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-005-0606-4