RI | Research | Projects | Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects

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Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects This project is no longer active. Head: Chuck Thorpe Contact: Chieh-Chih Wang Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: VASC Associated lab/group: NavLab For more information, see this project's homepage.

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Project Description

We are developing the algorithms to solve Simultaneous Localization and Mapping (SLAM) and Detection, Tracking and Classification of Moving Objects (DTCMO) problems for both indoor and outdoor applications.

Past members

	Name	Title	Email Address
	Justin David Carlson	PhD Student, RI
	Arne Suppe	Senior Research Programmer	suppe@andrew.cmu.edu
	Chuck Thorpe	Dean, Qatar Campus	thorpe@qatar.cmu.edu
	Chieh-Chih Wang	PhD Student, RI

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Simultaneous Localization, Mapping and Moving Object Tracking
  C. Wang, C. Thorpe, M. Hebert, S. Thrun, and H. Durrant-Whyte
  The International Journal of Robotics Research, Vol. 26, No. 6, June, 2007. [Abstract]
  Download: pdf [3854 KB] copyrighted

• A Hierarchical Object Based Representation for Simultaneous Localization and Mapping
  C. Wang and C. Thorpe
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2004. [Abstract]
  Download: pdf [521 KB] copyrighted

• Simultaneous Localization, Mapping and Moving Object Tracking
  C. Wang
  doctoral dissertation, tech. report CMU-RI-TR-04-23, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [8157 KB] copyrighted

• Perception for collision avoidance and autonomous driving
  R. Aufrere, J. Gowdy, C. Mertz, C. Thorpe, C. Wang, and T. Yata
  Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161. [Abstract]
  Download: pdf [1186 KB] copyrighted

• Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds
  C. Wang, C. Thorpe, and A. Suppe
  IEEE Intelligent Vehicles Symposium (IV2003), June, 2003. [Abstract]
  Download: pdf [912 KB] copyrighted

• Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas
  C. Wang, C. Thorpe, and S. Thrun
  IEEE International Conference on Robotics and Automation, May, 2003. [Abstract]
  Download: pdf [2005 KB] copyrighted

• Safe Robot Driving
  C. Thorpe, R. Aufrere, J.D. Carlson, D. Duggins, T.W. Fong, J. Gowdy, J. Kozar, R. MacLachlan, C. McCabe, C. Mertz, A. Suppe, C. Wang, and T. Yata
  Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002. [Abstract]
  Download: pdf [4130 KB] copyrighted

• Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects
  C. Wang and C. Thorpe
  IEEE International Conference on Robotics and Automation, May, 2002. [Abstract]
  Download: pdf [430 KB] copyrighted

• Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
  C. Thorpe, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, M. Siegel, A. Suppe, C. Wang, and T. Yata
  Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002. [Abstract]
  Download: pdf [57 KB], ps.gz [61 KB] copyrighted