Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker

Ye，Hanjing1; Chen，Guangcheng1; Chen，Weinan2; He，Li2; Guan，Yisheng1; Zhang，Hong2

10.1109/ROBIO54168.2021.9739394

2021

978-1-6654-0536-2

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

826-832

27-31 Dec. 2021

Sanya, China

2D LiDAR SLAM (Simultaneous Localization and Mapping) is widely used in indoor environments due to its stability and flexibility. However, its mapping procedure is usually operated by a joystick in static environments, while indoor environments often are dynamic with moving objects such as people. The generated map with noisy points due to the dynamic objects is usually incomplete and distorted. To address this problem, we propose a framework of 2D-LiDARbased SLAM without manual control that effectively excludes dynamic objects (people) and simplify the process for a robot to map an environment. The framework, which includes three parts: people tracking, filtering and following. We verify our proposed framework in experiments with two classic 2D-LiDARbased SLAM algorithms in indoor environments. The results show that this framework is effective in handling dynamic objects and reducing the mapping error.

Simultaneous localization and mapping Laser radar Filtering Process control Interference Human factors Indoor environment

通讯

英语

EI

20221611977557

Indoor positioning systems ; Optical radar ; Robotics

Surveying:405.3 ; Radar Systems and Equipment:716.2 ; Robotics:731.5 ; Optical Devices and Systems:741.3

2-s2.0-85128233582

Scopus

1.Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,510006,China
2.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China

Ye，Hanjing,Chen，Guangcheng,Chen，Weinan,et al. Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker[C],2021:826-832.