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In that type of environment you probably want the laser scanner or Kinect to be above head height, or pointing towards the ceiling. The SEEGRID robots have a similar issue with dynamic environments, and if you check their videos you can see that the cameras are pointing upwards. Even in very dynamic environments, things at higher elevations don't tend to change much from day to day.

If you're using a Kinect you could have it pointing forwards, in which case you can still use it for detecting and avoiding obstacles, but then create a fake laser scan maybe a couple of meters above ground level which can be fed into the navigation.