Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments

@article{Wolf2005MobileRS,
  title={Mobile Robot Simultaneous Localization and Mapping in Dynamic Environments},
  author={Denis Fernando Wolf and Gaurav S. Sukhatme},
  journal={Autonomous Robots},
  year={2005},
  volume={19},
  pages={53-65}
}
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… CONTINUE READING
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