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Carnegie Mellon Robotics Institute

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Abstract

We present GATMO (Generalized Approach to Tracking Movable Objects), a system for localization and mapping that incorporates the dynamic nature of the environment while maintaining semantic labels. Objects in the environment are broken down into multiple mobility levels, from static (walls) to highly mobile (people), by maintaining a history of object movement. Object classification is accomplished through a multi-layer, multi-hypothesis approach that does not rely on any static features such as shape or size. Maps are stored in an efficient manner that incorporates a history of previous orientations of each object. GATMO is initialized with a static map; it subsequently changes the map over time as objects in the map change position.

Keywords

mapping, indoor robots, object matching

Notes

Sponsor: National Science Foundation

Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Personal Robotics

Associated Project(s): PeepPredict

Text Reference

Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell, and David Ferguson, "GATMO: a Generalized Approach to Tracking Movable Objects," IEEE International Conference on Robotics and Automation, May, 2009.

BibTeX Reference

@inproceedings{Gallagher_2009_6349,
   author = "Garratt Gallagher and Siddhartha Srinivasa and J. Andrew (Drew) Bagnell and David Ferguson",
   title = "GATMO: a Generalized Approach to Tracking Movable Objects",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2009",
}

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