Dynamic Environment's Range Data Analysis by a Moving Observer

Abstract

The use of mobile robots in dynamic environment is constrained by their environment sensing capabilities. Especially for motion execution and local trajectory planning, data about the egomotion of the robot and data about the motion of dynamic objects in the vicinity are necessary. This paper gives an overview of range sensor systems and data analysis methods which are used to perform detection of egomotion on one hand and estimation of motion of other objects on the other hand. The outline of a new method for motion estimation of a moving observer in the presence of moving objects is presented.