RTOB-SLAM is a new low-computation framework for real-time onboard simultaneous localization and mapping (SLAM) and obstacle avoidance for autonomous vehicles. A low-resolution 2D laser scanner is used and a small form-factor computer perform all computations onboard. The SLAM process is based on laser scan matching with the iterative closest point technique to estimate the vehicle's current position by aligning the new scan with the map. This paper describes a new method which uses only a

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... subsample of the global map for scan matching, which improves the performance and allows for a map to adapt to a dynamic environment by partly forgetting the past. A detailed comparison between this method and current state-of-the-art SLAM frameworks is given, together with a methodology to choose the parameters of the RTOB-SLAM. The RTOB-SLAM has been implemented in ROS and perform well in various simulations and real experiments.