Motion detection and tracking is a relevant problem for mobile robots during
navigation to avoid collisions in dynamic environments or in applications where service
robots interact with humans. This paper presents a simple method to distinguish mobile
obstacles from the environment that is based on applying fuzzy threshold selection to
consecutive two-dimensional (2D) laser scans previously matched with robot odometry.
The proposed method has been tested with the Auriga-α mobile robot in indoors to estimate
the motion of nearby pedestrians.
