Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker Article Swipe
Hanjing Ye
,
Guangcheng Chen
,
Weinan Chen
,
He Li
,
Yisheng Guan
,
Hong Zhang
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/robio54168.2021.9739394
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/robio54168.2021.9739394
2D LiDAR SLAM (Simultaneous Localization and Mapping) is widely used in\nindoor environments due to its stability and flexibility. However, its mapping\nprocedure is usually operated by a joystick in static environments, while\nindoor environments often are dynamic with moving objects such as people. The\ngenerated map with noisy points due to the dynamic objects is usually\nincomplete and distorted. To address this problem, we propose a framework of\n2D-LiDAR-based SLAM without manual control that effectively excludes dynamic\nobjects (people) and simplify the process for a robot to map an environment.\nThe framework, which includes three parts: people tracking, filtering and\nfollowing. We verify our proposed framework in experiments with two classic\n2D-LiDAR-based SLAM algorithms in indoor environments. The results show that\nthis framework is effective in handling dynamic objects and reducing the\nmapping error.\n
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/robio54168.2021.9739394
- OA Status
- green
- Cited By
- 8
- References
- 31
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4224283988
All OpenAlex metadata
Raw OpenAlex JSON
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https://openalex.org/W4224283988Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/robio54168.2021.9739394Digital Object Identifier
- Title
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Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person TrackerWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2021Year of publication
- Publication date
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2021-12-27Full publication date if available
- Authors
-
Hanjing Ye, Guangcheng Chen, Weinan Chen, He Li, Yisheng Guan, Hong ZhangList of authors in order
- Landing page
-
https://doi.org/10.1109/robio54168.2021.9739394Publisher landing page
- Open access
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YesWhether a free full text is available
- OA status
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greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2204.08163Direct OA link when available
- Concepts
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Simultaneous localization and mapping, Lidar, Computer science, Computer vision, Artificial intelligence, Flexibility (engineering), Process (computing), Joystick, Robot, Tracking (education), Mobile robot, Simulation, Remote sensing, Geography, Operating system, Mathematics, Pedagogy, Psychology, StatisticsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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8Total citation count in OpenAlex
- Citations by year (recent)
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2025: 3, 2024: 4, 2023: 1Per-year citation counts (last 5 years)
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31Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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