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 NavlabS and Navlabl 1 vehicles with the maximum speed of 45 mph in crowded urban and suburban areas verify the described work.
Wang and Thorpe REF integrated the SLAM and detection and tracking of moving objects (DTMO) approaches and verified the efficiency of the integrated SLAM and DTMO at high speed in a large crowded city environment.
Simultaneous localization and mapping with detection and tracking of moving objects
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Geography Engineering Computer Science