On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Sonar-based real-world mapping and navigation
Autonomous robot vehicles
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Experimental Comparison of Range Image Segmentation Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
Machine Learning - Special issue on learning in autonomous robots
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Motion-egomotion discrimination and motion segmentation from image-pair streams
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Simultaneous localization, mapping and moving object tracking
Simultaneous localization, mapping and moving object tracking
Bearings-only localization and mapping
Bearings-only localization and mapping
Thin junction tree filters for simultaneous localization and mapping
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Learning hierarchical object maps of non-stationary environments with mobile robots
UAI'02 Proceedings of the Eighteenth conference on Uncertainty in artificial intelligence
The revisiting problem in mobile robot map building: a hierarchical bayesian approach
UAI'03 Proceedings of the Nineteenth conference on Uncertainty in Artificial Intelligence
Brief paper: Detection and estimation for abruptly changing systems
Automatica (Journal of IFAC)
Modeling dynamic scenarios for local sensor-based motion planning
Autonomous Robots
Model based vehicle detection and tracking for autonomous urban driving
Autonomous Robots
Self-localization and stream field based partially observable moving object tracking
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
Coordinated control of multiple mobile robots in pursuit-evasion games
ACC'09 Proceedings of the 2009 conference on American Control Conference
Multiple-model RANSAC for ego-motion estimation in highly dynamic environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion clustering and estimation with conditional random fields
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Towards scene understanding using a co-operative of robots
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
Realtime motion segmentation based multibody visual SLAM
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Mapping with sparse local sensors and strong hierarchical priors
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
AH '12 Proceedings of the 3rd Augmented Human International Conference
Virtual 3D City Model for Navigation in Urban Areas
Journal of Intelligent and Robotic Systems
Towards hierarchical blackboard mapping on a whiskered robot
Robotics and Autonomous Systems
M2M gossip: why might we want cars to talk about us?
Proceedings of the 4th International Conference on Automotive User Interfaces and Interactive Vehicular Applications
Hierarchical object discovery and dense modelling from motion cues in RGB-D video
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
Lifelong localization in changing environments
International Journal of Robotics Research
Multi-modal object detection and localization for high integrity driving assistance
Machine Vision and Applications
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Simultaneous localization, mapping and moving object tracking (SLAMMOT) involves both simultaneous localization and mapping (SLAM) in dynamic environments and detecting and tracking these dynamic objects. In this paper, a mathematical framework is established to integrate SLAM and moving object tracking. Two solutions are described: SLAM with generalized objects, and SLAM with detection and tracking of moving objects (DATMO). SLAM with generalized objects calculates a joint posterior over all generalized objects and the robot. Such an approach is similar to existing SLAM algorithms, but with additional structure to allow for motion modeling of generalized objects. Unfortunately, it is computationally demanding and generally infeasible. SLAM with DATMO decomposes the estimation problem into two separate estimators. By maintaining separate posteriors for stationary objects and moving objects, the resulting estimation problems are much lower dimensional than SLAM with generalized objects. Both SLAM and moving object tracking from a moving vehicle in crowded urban areas are daunting tasks. Based on the SLAM with DATMO framework, practical algorithms are proposed which deal with issues of perception modeling, data association, and moving object detection. The implementation of SLAM with DATMO was demonstrated using data collected from the CMU Navlab11 vehicle at high speeds in crowded urban environments. Ample experimental results shows the feasibility of the proposed theory and algorithms.