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ICRA
2002
IEEE

Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects

9 years 5 months ago
Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects
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.
Chieh-Chih Wang, Charles E. Thorpe
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Chieh-Chih Wang, Charles E. Thorpe
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