Object-based pose graph for dynamic indoor environments Articles uri icon

publication date

  • October 2020

start page

  • 5401

end page

  • 5408


  • 4


  • 5

International Standard Serial Number (ISSN)

  • 2377-3766


  • Relying on static representations of the environment limits the use of mapping methods in most real-world tasks. Real-world environments are dynamic and undergo changes that need to be handled through map adaptation. In this work, an object-based pose graph is proposed to solve the problem of mapping in indoor dynamic environments with mobile robots. In contrast to state-of-the art methods where binary classifications between movable and static objects are used, we propose a new method to capture the probability of different objects over time. Object probability represents how likely it is to find a specific object in its previous location and it gives a quantification of how movable specific objects are. In addition, grouping object probabilities according to object class allows us to evaluate the movability of different object classes. We validate our object-based pose graph in real-world dynamic environments. Results in mapping and map adaptation with a real robot show efficient map maintenance through several mapping sessions and results in object classification according to movability show an improvement compared to binary classification.


  • Robotics and Industrial Informatics


  • mapping; dynamics; service robots