Abstract
In this paper, we propose a method to track moving obstacles in unknown environment. Unlike controlled environment such as that to use experiment, robots might collide with moving objects such as other moving robots and people under real environment, and thus it is important that the robot can track moving obstacles for avoiding them. In conventional research, moving objects have been tracked for removing them as outliers before executing SLAM. In contrast, we employ the SLAM, which can be applied to dynamic crowded environments, and then track moving objects using particle filter. We show the result of applying the proposed method to real environment, and discuss the effectiveness of the method.
