Simultaneous localization and mapping with detection and tracking of moving objects

Chieh-Chih Wang*, Chuck Thorpe

*此作品的通信作者

研究成果: Conference article同行評審

215 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)2918-2924
頁數7
期刊Proceedings - IEEE International Conference on Robotics and Automation
3
DOIs
出版狀態Published - 2002
事件2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
持續時間: 11 5月 200215 5月 2002

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