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Carnegie Mellon Robotics Institute

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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",
}

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