Simultaneous Localization, Mapping and Moving Object Tracking

Chieh-Chih Wang, Chuck Thorpe, Martial Hebert, Sebastian Thrun, and H. Durrant-Whyte
The International Journal of Robotics Research, Vol. 26, No. 6, July, 2007


Download
  • Adobe portable document format (pdf) (4MB)
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
Simultaneous localization, mapping and moving object tracking (SLAMMOT) involves both simultaneous localization and mapping (SLAM) in dynamic en- vironments and detecting and tracking these dynamic objects. In this paper, we establish a mathematical framework to integrate SLAM and moving ob- ject tracking. We describe two solutions: SLAM with generalized objects, and SLAM with detection and tracking of moving objects (DATMO). SLAM with generalized objects calculates a joint posterior over all generalized objects and the robot. Such an approach is similar to existing SLAM algorithms, but with additional structure to allow for motion modeling of generalized objects. Un- fortunately, it is computationally demanding and generally infeasible. SLAM with DATMO decomposes the estimation problem into two separate estima- tors. By maintaining separate posteriors for stationary objects and moving objects, the resulting estimation problems are much lower dimensional then SLAM with generalized objects. Both SLAM and moving object tracking from a moving vehicle in crowded urban areas are daunting tasks. Based on the SLAM with DATMO framework, we propose practical algorithms which deal with issues of perception modeling, data association, and moving object

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
Number of pages: 47
Note: (to appear)

Text Reference
Chieh-Chih Wang, Chuck Thorpe, Martial Hebert, Sebastian Thrun, and H. Durrant-Whyte, "Simultaneous Localization, Mapping and Moving Object Tracking," The International Journal of Robotics Research, Vol. 26, No. 6, July, 2007

BibTeX Reference
@article{Wang_2007_5776,
   author = "Chieh-Chih Wang and Chuck Thorpe and Martial Hebert and Sebastian Thrun and H. Durrant-Whyte",
   title = "Simultaneous Localization, Mapping and Moving Object Tracking",
   journal = "The International Journal of Robotics Research",
   month = "July",
   year = "2007",
   volume = "26",
   number = "6",
   Notes = "(to appear)"
}