Having a setup of a mobile robot with a 360° 2D lidar (1 plane). What is the current easiest approach to detect moving object with a high reliability from a moving robot? To make it simple, we consider an indoor application.
My current considerations:
- Creating a SLAM occupancy map (e.g. Hector SLAM)
- conducting a projection of the measurement points to the created 2D occupancy map from t-2. Points which are projected to the free space can be clustered as moving objects.
The issues of the above approach are the chicken-egg-problem of the new measurement points and reliability of the detection.
I've read the DATMO approach (detection and tracking moving object). However, the papers about DATMO are too complicated and too abstract for me.
Is there any reliable approach without creating a global map through SLAM? Comparing points from t and t-1 directly without estimating the robot movement/odometry is not a possible task.