Moving objects elimination towards enhanced dynamic SLAM fusing LiDAR and mmW-radar

Abstract

Robust and accurate localization and mapping are essential for autonomous driving. The traditional SLAM methods generally work under the assumption that the environment is static, while in dynamic environment the performance will be degenerate. In this paper, we propose an efficient and effective method to eliminate the influence of dynamic environment on SLAM by fusing LiDAR and mmW-radar, which significantly improves the robustness and accuracy of localization and mapping. The method fully utilizes the advantages of different measurement characteristics of two sensors, efficient moving object detection based on Doppler effect by radar and accurate object segmentation and localization by LiDAR, to remove the moving objects and uses the resulting filtered point cloud as the input of SLAM towards enhanced performance. The proposed approach is evaluated through experiments in various real world scenarios, and the results demonstrate the effectiveness of the method to improve the robustness and accuracy of SLAM in dynamic environments.