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This paper describes a method for estimating the position/pose of a mobile robot and the positions of people in a previously mapped environment. In the proposed method, we acquire LRF scan segments not corresponding to occupied grids of the known map and consider these segments as environmental changes caused by people and other moving-objects. By using these LRF scan segments and particle filter framework, our method estimates the robot and multiple people robustly. In addition, other moving-objects except people are detected by tracking these LRF scan segments. In our experiment, positions of the robot and people were estimated about 10cm accuracy.

1A1-F09 Mobile Robot Localization Incorporating Environmental Change Detection with LRF Scan Segments