Landmark-based Map Management for RBPF-SLAM in Non-static Environments

抄録

In this paper, we propose a landmark-based map management method for RBPF-SLAM in non-static environment. The reliability of landmark is tracked using the negative information from the sensors. Based on the current reliability value and the phase transition of reliability, landmarks are classified into three types. The confident landmarks that represent the static parts of the environment are remained on the map along with the conditional landmarks that observed occasionally due to the environmental changes. On the other hand, spurious landmarks that represent the disappeared objects are eliminated. Result of experiment in real non-static environment verified the performance of the proposed map management method.