Comparison and Analysis of LIDAR-based SLAM Frameworks in Dynamic Environments with Moving Objects

Abstract

This paper presents the comparison and analysis of LIDAR (Light Detection and Ranging)-based SLAM (Simultaneous Localization and Mapping) Frameworks such as Hector SLAM, GMapping and Karto SLAM in dynamic environments with moving objects. Many experiments have been conducted using a mobile robot equipped with a LIDAR, which is operated on ROS (Robot Operating System) in two indoor environments including a moving object. Experimental results showed that the results of the three SLAM frameworks were different according to the types and trajectories of the moving object.