Stereo-based simultaneous localization, mapping and moving object tracking

Kuen Han Lin*, Chieh-Chih Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

45 Scopus citations

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.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3975-3980
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

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  • Cite this

    Lin, K. H., & Wang, C-C. (2010). Stereo-based simultaneous localization, mapping and moving object tracking. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3975-3980). [5649653] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649653