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

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

232 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)842-849
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
DOIs
StatePublished - 9 Dec 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003

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