Please use this identifier to cite or link to this item:
http://hdl.handle.net/1942/37289
Title: | Incorporating Moving Landmarks within 2D Graph-Based SLAM for Dynamic Environments | Authors: | AERTS, Peter Slaets, Peter DEMEESTER, Eric |
Issue Date: | 2021 | Publisher: | IEEE | Source: | 2021 6TH INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND ROBOTICS, RESEARCH (ICMERR), , p. 1 -7 | Abstract: | In recent years, Simultaneous Localisation and Mapping (SLAM) in dynamic environments received more and more attention. Most approaches focus on efficiently removing dynamic objects present within the scene to perform SLAM with the assumption of a static environment. Some approaches incorporate dynamic objects within the optimization problem to perform SLAM and dynamic object tracking concurrently. In this paper, we propose to incorporate information from dynamic objects into a 2D graph-based SLAM approach. We experimentally show that, by adding a measurement function of the dynamic objects to the front-end graph structure, and adopting a motion model of the object, the trajectory of the dynamic object as well as the robot's trajectory can be substantially improved in the absence of static features within the graph. Experimental results based on simulated data and data from a differential drive robot with a LiDAR sensor validate this approach. | Notes: | Aerts, P (corresponding author), Katholieke Univ Leuven, Dept Mech Engn, Res Unit ACRO, B-3590 Diepenbeek, Belgium. peter.aerts@kuleuven.be; peter.slaets@kuleuven.be; eric.demeester@kuleuven.be |
Keywords: | SLAM; mapping; dynamic SLAM; graph-based SLAM | Document URI: | http://hdl.handle.net/1942/37289 | ISBN: | 978-1-6654-0642-0 | DOI: | 10.1109/ICMERR54363.2021.9680817 | ISI #: | WOS:000784357000001 | Category: | C1 | Type: | Journal Contribution |
Appears in Collections: | Research publications |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Incorporating_Moving_Landmarks_within_2D_Graph-Based_SLAM_for_Dynamic_Environments.pdf Restricted Access | Published version | 4.36 MB | Adobe PDF | View/Open Request a copy |
WEB OF SCIENCETM
Citations
1
checked on Apr 24, 2024
Page view(s)
40
checked on Jul 25, 2022
Download(s)
4
checked on Jul 25, 2022
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.