Tracking and data association
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
IEEE Transactions on Pattern Analysis and Machine Intelligence
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Simultaneous localization, mapping and moving object tracking
Simultaneous localization, mapping and moving object tracking
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
Laser-based detection and tracking moving objects using data-driven Markov chain Monte Carlo
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Hi-index | 0.02 |
We present a real-time algorithm for simultaneous localization and local mapping (local SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with a laser scanner, short-range radars and odometry. To correct the vehicle odometry we introduce a new fast implementation of incremental scan matching method that can work reliably in dynamic outdoor environments. After obtaining a good vehicle localization, the map surrounding of the vehicle is updated incrementally and moving objects are detected without a priori knowledge of the targets. Detected moving objects are finally tracked by a Multiple Hypothesis Tracker (MHT) coupled with an adaptive Interacting Multiple Model (IMM) filter. The experimental results on datasets collected from different scenarios such as: urban streets, country roads and highways demonstrate the efficiency of the proposed algorithm.