Date of Original Version
Abstract or Table of Contents
We present GATMO (Generalized Approach to Tracking Movable Objects), a system for localization and map- ping that incorporates the dynamic nature of the environment while maintaining semantic labels. Objects in the environment are broken down into multiple mobility levels, from static (walls) to highly mobile (people), by maintaining a history of object movement. Object classiﬁcation is accomplished through a multi-layer, multi-hypothesis approach that does not rely on any static features such as shape or size. Maps are stored in an efﬁcient manner that incorporates a history of previous orientations of each object. GATMO is initialized with a static map; it subsequently changes the map over time as objects in the map change position.