TY - GEN
T1 - Stereo-based simultaneous localization, mapping and moving object tracking
AU - Lin, Kuen Han
AU - Wang, Chieh-Chih
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651507173&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649653
DO - 10.1109/IROS.2010.5649653
M3 - Conference contribution
AN - SCOPUS:78651507173
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3975
EP - 3980
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Y2 - 18 October 2010 through 22 October 2010
ER -