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Stereo-based
Simultaneous Localization, Mapping and Moving Object Tracking
Kuen-Han Lin and Chieh-Chih Wang
2010 IEEE/RSJ International Conference on
Intelligent Robots and Systems
Abstract |
Vision based
simultaneous localization and mapping (SLAM) has recently
received much research interest. However, vision
based SLAM could be corrupted with the inclusion of moving
entities, which makes it hard to operate in dynamic
environments. Simultaneous localization, mapping and moving object
tracking (SLAMMOT) serves as a solution to deal with moving
objects while performing SLAM. The existing work has shown the
feasibility of monocular SLAMMOT in dynamic
environments. However, monocular SLAMMOT inherits the
observability issue of bearings-only tracking in which moving
entities would be unobservable according to
motions
of
the
camera and moving objects. In this paper, stereo-based SLAMMOT is proposed
to solve the observability issue as well as increase
the accuracy of localization, mapping and tracking. Simulation
and experimental results demonstrate that the proposed stereo
SLAMMOT is superior than monocular SLAMMOT in dynamic
environments.
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The full paper is available in PDF.
The
video
is available here.
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Bibtex |
@inproceedings{Lin_iros10,
author = {Kuen-Han Lin and Chieh-Chih Wang},
title = {Stereo-based
Simultaneous Localization, Mapping and Moving Object Tracking},
booktitle = {IEEE/RSJ
International
Conference
on
Intelligent
Robots and Systems (IROS)},
address = {Taipei,
Taiwan},
month
=
{October},
year
=
{2010},
}
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Copyright ©
Chieh-Chih
(Bob) Wang 2010. All right reserved.
Last Updated: August 4, 2010.
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