Towards object mapping in non-stationary environments with mobile robots

  title={Towards object mapping in non-stationary environments with mobile robots},
  author={Rahul Biswas and Benson Limketkai and Scott Sanner and Sebastian Thrun},
We propose an occupancy grid mapping algorithm for mobile robots operating in environments where objects change their locations over time. Virtually all existing environment mapping algorithms rely on a static world assumption, rendering them inapplicable to environments where things (chairs, desks, . . . ) move. A natural goal of robotics research, thus, is to learn models of nonstationary objects, and determine where they are at any point in time. This paper proposes an extension to the well… CONTINUE READING

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