Method and device for navigating in dynamic environment

A device comprising:

• a first sensor;
• a second sensor;
• and
• at least one processor,
• wherein the at least one processor is configured to:
• build a map based on sensor data acquired by the first sensor and the second sensor;
• localize a position of the device on the map based on the acquired sensor data;
• detect a moving object among a plurality of objects based on the sensor data;
• determine a first position of the moving object on the map based on the acquired sensor data;
• determine a momentum of the moving object;
• determine a second position of the moving object on the map based on the determined momentum and the determined first position;
• and
• change the position of the device based on the determined second position of the moving object and a position of at least one obstacle,
• wherein the first sensor comprises a rangefinder sensor, and
• wherein the at least one processor is further configured to:
• obtain distance data of each of the plurality of objects by the rangefinder sensor, the distance data indicating a distance between the device and each of the plurality of objects, and
• input the obtained distance data into a Recurrent Neural Network (RNN),
• analyze a pattern of movement of each of the plurality of objects based on the obtained distance data by using the RNN, and
• determine the moving object among the plurality of objects based on the analyzed pattern of the movement by using the RNN.