Abstract — This paper addresses the problem of real-time moving-object detection, classification and tracking in populated and dynamic environments. In this scenario, a mobile robot uses 2D laser range data to recognize, track and navigate moving targets. Most previous approaches either rely on pre-defined data features or off-line training of a classifier for specific data sets, thus eliminating the possibility to detect and track different-shaped moving objects. We propose a novel and adaptive technique where potential moving objects are classified and learned in real-time using a Fuzzy ART neural network algorithm. Experimental results indicate that our method can effectively distinguish and track moving targets in cluttered indoor environments, while at the same time learning their shape. T I.