Source: https://www.researchgate.net/profile/Mohamed_Mourad_Lafifi/post/Dynamic_Object_Detection_using_G-mapping_or_Hector_mapping/attachment/59d64eed79197b80779a82cd/AS%3A495127010267136%401495058886294/download/Map-building+and+planning+for+autonomous+navigation+of+a+mobile+robot.pdf