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