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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This project is no longer active.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(s) / consortia:
 Vision and Autonomous Systems Center (VASC)
Associated lab(s) / group(s):
 NavLab
Project Homepage
Publications
  • 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, June, 2007,
    Details | pdf (4MB) | Copyrighted

  • A Hierarchical Object Based Representation for Simultaneous Localization and Mapping

    Chieh-Chih Wang and Chuck Thorpe
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2004.
    Details | pdf (521KB) | Copyrighted

  • Simultaneous Localization, Mapping and Moving Object Tracking

    Chieh-Chih Wang
    doctoral dissertation, tech. report CMU-RI-TR-04-23, Robotics Institute, Carnegie Mellon University, April, 2004
    Details | pdf (8MB) | Copyrighted

  • Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds

    Chieh-Chih Wang, Chuck Thorpe, and Arne Suppe
    IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.
    Details | pdf (912KB) | Copyrighted

  • Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas

    Chieh-Chih Wang, Chuck Thorpe, and Sebastian Thrun
    IEEE International Conference on Robotics and Automation, May, 2003.
    Details | pdf (2MB) | Copyrighted

  • Perception for collision avoidance and autonomous driving

    Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang, and Teruko Yata
    Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161.
    Details | pdf (1MB) | Copyrighted

  • Safe Robot Driving

    Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
    Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002.
    Details | pdf (4MB) | Copyrighted

  • 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.
    Details | pdf (430KB) | Copyrighted

  • Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance

    Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
    Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, April, 2002.
    Details | pdf (58KB) | Copyrighted