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This paper focuses on efficient landmark management in radar basedsimultaneous localization and mapping (SLAM). Landmark management is necessaryin order to maintain a consistent map of the estimated landmarks relative tothe estimate of the platform's pose. This task is particularly important whenfaced with multiple detections from the same landmark and/or dynamicenvironments where the location of a landmark can change. A further challengewith radar data is the presence of false detections. Accordingly, we propose asimple yet efficient rule based solution for radar SLAM landmark management.Assuming a low-dynamic environment, there are several steps in our solution:new landmarks need to be detected and included, false landmarks need to beidentified and removed, and the consistency of the landmarks registered in themap needs to be maintained. To illustrate our solution, we run an extendedKalman filter SLAM algorithm in an environment containing both stationary andtemporally stationary landmarks. Our simulation results demonstrate that theproposed solution is capable of reliably managing landmarks even when facedwith false detections and multiple detections from the same landmark.

Landmark Management in the Application of Radar SLAM