Non-static environments, such as those containing other vehicles or pedestrians, continue to present research challenges.<ref>{{Cite journalbook|last1=Perera|first1=Samunda|last2=Pasqual|first2=Ajith|title=Advances in Visual Computing |chapter=Towards Realtime Handheld MonoSLAM in Dynamic Environments |date=2011|editor-last=Bebis|editor-first=George|editor2-last=Boyle|editor2-first=Richard|editor3-last=Parvin|editor3-first=Bahram|editor4-last=Koracin|editor4-first=Darko|editor5-last=Wang|editor5-first=Song|editor6-last=Kyungnam|editor6-first=Kim|editor7-last=Benes|editor7-first=Bedrich|editor8-last=Moreland|editor8-first=Kenneth|editor9-last=Borst|editor9-first=Christoph|title=Towards Realtime Handheld MonoSLAM in Dynamic Environments|journal=Advances in Visual Computing|volume=6938|series=Lecture Notes in Computer Science|language=en|publisher=Springer Berlin Heidelberg|pages=313–324|doi=10.1007/978-3-642-24028-7_29|isbn=9783642240287}}</ref><ref name=":1">{{Citation|last1=Perera|first1=Samunda|title=Exploration: Simultaneous Localization and Mapping (SLAM)|date=2014|work=Computer Vision: A Reference Guide|pages=268–275|editor-last=Ikeuchi|editor-first=Katsushi|publisher=Springer US|language=en|doi=10.1007/978-0-387-31439-6_280|isbn=9780387314396|last2=Barnes|first2=Dr.Nick|last3=Zelinsky|first3=Dr.Alexander|s2cid=34686200}}</ref> SLAM with DATMO is a model which tracks moving objects in a similar way to the agent itself.<ref name=Wang2007>{{cite journal
