Construction of Proximity Point Pose Graph Map with Quasi-Static Objects Removed by Integrating Multiple Observation Data

Abstract

In this paper, we propose a method for mapping a pose graph map using proximity points as feature points by integrating multiple observation data. In this method, remove quasi-static objects which changes location or existence for each observation data, and avoid incorrect removal of static objects, for improve the accuracy of localization. In addition, we confirme that the proposed method can remove quasi-static objects, by mapping the actually observed data. In addition, the accuracy of localization by the map constructed by the proposed method is compared with the accuracy of one without removing quasi-static objects, to show the usefulness of the proposed method.