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RI | Thesis Proposal | 20 Jan 2003

Robotics Institute Thesis Proposal 20 Jan 2003
Place and Time | Abstract | Further Details | Thesis Committee

Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects

Chieh-Chih Wang
Robotics Institute
Carnegie Mellon University

Place and Time

NSH 1507
3:00 PM


Robots are designed to work for and with people. With an ability to solve the simultaneous localization and mapping (SLAM) problem, robots can work for people in an unknown environment without prior knowledge of a map and without access to independent position information. With an ability to solve the detection and tracking of moving objects (DATMO) problem, robots can work with people safely in a dynamic environment. Both SLAM and DATMO are critical in many potential robotic applications. In earlier work, SLAM and DATMO are treated as two separate problems. In fact, they can be complementary to one another and should be solved as one problem, the SLAM with DATMO problem.

I propose to explore the theoretical framework of the SLAM with DATMO problem and to design robust and computationally efficient algorithms for solving the problem. A smart driving assistant system and a 4D spatio-temporal city mapping system will be developed to verify the proposed theory and algorithms.

Further Details

A copy of the thesis proposal document can be found at

Thesis Committee

The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.

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