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Evaluation Method of Change Degree of Dynamic Scene for Mobile Robots Based on Area Ratio and SLAM Algorithm

Based on the requirement of mobile robots on the performance of SLAM algorithm in dynamic scenes, a method of parameterized representation of scene and its elements by anchor frame and occupancy grid is proposed to achieve quantitative definition and evaluation of "dynamic scene". It provides an idea for the quantitative evaluation of the performance of mobile robots in dynamic scenes, such as mapping and repositioning, and the formulation of relevant test standards.