The videos

Use of dynamic obstacles : This video shows a simulation where the person (red) started at the same position, and the robot (blue) also. There were 30 people (dynamic obstacles) walking around to random locations. The left side of the video shows the method using the visible dynamic obstacles (i.e. in visibility range) to update the belief. This means that it took into account that the person could be hidden behind a dynamic obstacle. At the right side of the video the algorithm did not use the dynamic obstacles, and therefore assumed the person not to be in the field of view. The belief map (second and fourth image) shows where the algorithm estimated the person to be, and it can be seen that - when using dynamic obstacles - the belief was maintained behind them (if there was any close before).