Landmark rating and selection for SLAM in dynamic environments

Abstract

Goal-oriented acting in dynamic environments is a challenging task for a mobile robot. A fundamental problem to be solved is to map the environment during exploration. Since everyday, environments are typically not static, landmarks can occur and disappear at any time. Therefore, a SLAM approach must be able to cope with the characteristics of such environments. This work presents a multicriteria utility function to select landmarks for SLAM in dynamic environments. The landmark utility function takes into account the salience, the probability of reobservation, and the relevance for localization of a landmark. Taking into account these criteria, now enables the selection of landmarks for SLAM in dynamic environments. The performance of the approach is shown in a real-world experiment with a P3DX-platform in a living room environment.