抄録
The purpose of this study is to enable a mobile robot to localize itself in a crowded environment. Scan matching is an example of localization method. However, it is not effective in environments with many dynamic obstacles, i.e., crowded environments. In this study, we propose a method to obtain data usable for scan matching in crowded indoor environments by the process of scan data accumulation and near point deletion. With this method, we can obtain wall data that is similar to when there is no crowd. Experiments were carried out to investigate the effectiveness of the method. As a result, the method was found to be effective in localization in environments with many dynamic obstacles.
