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Simultaneous
Localization, Mapping and
Moving Object Tracking
Chieh-Chih Wang, Charles Thorpe,
Sebastian Thrun, Martial Hebert and Hugh Durrant-Whyte
The
International Journal of Robotics Research
Vol. 26, No.9, September 2007, pp.889-916.
Abstract |
Simultaneous localization, mapping and
moving object tracking (SLAMMOT) involves both simultaneous
localization and mapping (SLAM) in dynamic environments and
detecting and tracking these dynamic objects. In this
paper, a mathematical framework is established to integrate
SLAM and moving object tracking. Two solutions are
described: SLAM with generalized objects, and SLAM with
detection and tracking of moving objects (DATMO). SLAM with
generalized objects calculates a joint posterior over all
generalized objects and the robot. Such an approach is similar to
existing SLAM algorithms, but with additional structure to allow
for motion modeling of generalized objects. Unfortunately, it
is computationally demanding and generally infeasible. SLAM with
DATMO decomposes the estimation problem into two separate estimators.
By maintaining separate posteriors for stationary objects
and moving objects, the resulting estimation problems are
much lower dimensional than SLAM with generalized objects. Both
SLAM and moving object tracking from a moving vehicle in crowded
urban areas are daunting tasks. Based on the SLAM with DATMO
framework, practical algorithms are proposed which deal with
issues of perception modeling, data association, and moving object
detection. The implementation of SLAM with DATMO was demonstrated
using data collected from the CMU Navlab11 vehicle at high
speeds in crowded urban environments. Ample experimental results
shows the feasibility of the proposed theory and algorithms.
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Bibtex |
@ARTICLE{Wang_ijrr07,
AUTHOR = {Chieh-Chih Wang and Charles Thorpe and
Sebastian Thrun and Martial Hebert and Hugh Durrant-Whyte},
TITLE = {Simultaneous
Localization, Mapping and Moving Object Tracking},
JOURNAL = {The International Journal of Robotics Research},
YEAR = {2007},
volume = {26},
number = {9},
pages = {889-916},
month = {September},
}
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Copyright ©
Chieh-Chih
(Bob) Wang 2007. All right reserved.
Last Updated: August 29, 2007.
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