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*, Charles Thorpe, Sebastian Thrun

*此作品的通信作者

研究成果: Conference article同行評審

272 引文 斯高帕斯(Scopus)

摘要

The simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) problem is not only to solve the SLAM problem in dynamic environments but also to detect and track these dynamic objects. In this paper, we derive the Bayesian formula of the SLAM with DATMO problem, which provides a solid basis for understanding and solving this problem. In addition, we provide a practical algorithm for performing DATMO from a moving platform equipped with range sensors. The probabilistic approach to solve the whole problem has been implemented with the Navlab11 vehicle. More than 100 miles of experiments in crowded urban areas indicated that SLAM with DATMO is indeed feasible.

原文English
頁(從 - 到)842-849
頁數8
期刊Proceedings - IEEE International Conference on Robotics and Automation
1
DOIs
出版狀態Published - 9 12月 2003
事件2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
持續時間: 14 9月 200319 9月 2003

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