Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects

Chieh-Chih Wang and Chuck Thorpe
IEEE International Conference on Robotics and Automation, May, 2002.


Download
  • Adobe portable document format (pdf) (430KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Both simultaneous localization and mapping (SLAM) and detection and tracking of moving objects (DTMO) play key roles in robotics and automation. For certain constrained environments, SLAM and DTMO are becoming solved problems. But for robots working outdoors, and at high speeds, SLAM and DTMO are still incomplete. In earlier works, SLAM and DTMO are treated as two separate problems. In fact, they can be complementary to one another. In this paper, we present a new method to integrate SLAM and DTMO to solve both problems simultaneously for both indoor and outdoor applications. The results of experiments carried out with CMU Navlab8 and Navlab11 vehicles with the maximum speed of 45 mph in crowded urban and suburban areas verify the described work.

Keywords
Simultaneous Localization and Mapping, SLAM, Detection and Tracking of Moving Objects, DTMO, ICP

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects and Side Collision Warning System for Transit Buses

Text Reference
Chieh-Chih Wang and Chuck Thorpe, "Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects," IEEE International Conference on Robotics and Automation, May, 2002.

BibTeX Reference
@inproceedings{Wang_2002_3973,
   author = "Chieh-Chih Wang and Chuck Thorpe",
   title = "Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2002",
}