Model-based Quasi-static SLAM in Unstructured Dynamic Environments

Inspired by the application of unmanned aerial vehicles to ship mapping and navigation in the Canadian Arctic, this paper proposes model-based quasi-static simultaneous localization and mapping (MBQS-SLAM). It extends the authors' earlier work on model-based dynamic SLAM, to the specific challenges of marine Arctic environments where landmarks move at speeds that cannot be detected in consecutive observations - defining quasi-static motion. After developing modelbased quasi-static factors and the MBQS-SLAM algorithm, encouraging performance is shown for both simulations and laboratory experiments in quasi-static environments.