SLAM ESTIMATION IN DYNAMIC OUTDOOR ENVIRONMENTS

摘要

This paper describes and compares three different approaches to estimate simultaneous localization and mapping (SLAM) in dynamic outdoor environments. SLAM has been intensively researched in recent years in the field of robotics and intelligent vehicles, many approaches have been proposed including occupancy grid mapping method (Bayesian, Dempster-Shafer and Fuzzy Logic), Localization estimation method (edge or point features based direct scan matching techniques, probabilistic likelihood, EKF, particle filter). In this paper, a number of promising approaches and recent developments in this literature have been reviewed firstly in this paper. However, SLAM estimation in dynamic outdoor environments has been a difficult task since numerous moving objects exist which may cause bias in feature selection problem. In this paper, we proposed a possibilistic SLAM with RANSAC approach and implemented with three different matching algorithms. Real outdoor experimental result shows the effectiveness and efficiency of our approach.