C. Stachniss and W. Burgard

Mobile Robot Mapping and Localization in Non-Static Environments

Proc. of the National Conference on Artificial Intelligence (AAAI)


Abstract

Whenever mobile robots act in the real world, they need to be able to deal with non-static objects. In the context of mapping, a common technique to deal with dynamic objects is to filter out the spurious measurements corresponding to such objects. In this paper, we present a novel approach to estimate typical configurations of dynamic areas in the environment of a mobile robot. Our approach clusters local grid maps to identify the possible configurations. We furthermore describe how these clusters can be utilized within a Rao-Blackwellized particle filter to localize a mobile robot in a non-static environment. In practical experiments carried out with a mobile robot in a typical office environment, we demonstrate the advantages of our approach compared to alternative techniques for mapping and localization in dynamic environments.

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Bibtex 

@string{aaai = "Proc.~of the National Conference on Artificial Intelligence"}

@InProceedings{stachniss05aaai,
   TITLE =	 {Mobile Robot Mapping and Localization in Non-Static Environments},
   AUTHOR =	 {Stachniss, C. and Burgard, W.},
   BOOKTITLE =	 aaai,
   YEAR =	 {2005},
   ADDRESS =     {Pittsburgh, PA, USA},
}