3D SLAM in Dynamic Environment: An Algorithm for Mobile Robot

Ilia Baltashov, Anna Semakova, Aleksandr Bakhshiev

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Abstract

We present a simultaneous localization and mapping algorithm for a mobile robot in 3D. It allows to construct a map of the environment without artifacts caused by dynamic objects such as trees or people. Experimental results confirm the effectiveness of the algorithm in real world scenarios. We also compare the developed algorithm with previously realized analogs.

Original languageEnglish
Title of host publication2020 24th International Conference on System Theory, Control and Computing, ICSTCC 2020 - Proceedings
EditorsLucian-Florentin Barbulescu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages642-647
Number of pages6
ISBN (Electronic)9781728198095
DOIs
StatePublished - 8 Oct 2020
Event24th International Conference on System Theory, Control and Computing, ICSTCC 2020 - Virtual, Sinaia, Romania
Duration: 8 Oct 202010 Oct 2020

Publication series

Name2020 24th International Conference on System Theory, Control and Computing, ICSTCC 2020 - Proceedings

Conference

Conference24th International Conference on System Theory, Control and Computing, ICSTCC 2020
Country/TerritoryRomania
CityVirtual, Sinaia
Period8/10/2010/10/20

Scopus subject areas

  • Computer Science Applications
  • Automotive Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

Keywords

  • mobile robot
  • navigation
  • SLAM

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