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Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a simple method to distinguish mobile obstacles from the environment that is based on applying fuzzy threshold selection to consecutive two-dimensional (2D) laser scans previously matched with robot odometry.  The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate the motion of nearby pedestrians

Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans