Simultaneous localization and mapping with detection and tracking of moving objects

Chieh-Chih Wang*, Chuck Thorpe

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

190 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)2918-2924
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
StatePublished - 1 Jan 2002
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: 11 May 200215 May 2002

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