Simultaneous localization, mapping and detection of moving objects with mobile robot in dynamic environments

摘要

This paper presents a novel approach for simultaneous localization, mapping (SLAM) and detection of moving objects based on matching 2D range scans. We use the uncertain region to judge the type of scan points, thereby improving the accuracy of distinction between the dynamic and static objects. The approach improves the accuracy of SLAM in dynamic environment, reduces the interference caused by moving objects, and enhances the practical utility of traditional methods of SLAM. Moreover, the approach expands fields of both research and application of SLAM in combination with target tracking method. Results in real robot experiments show the effectiveness of our method.