SIMULTANEOUS LOCALIZATION AND MAPPING WITH DETECTION AND TRACKING OF MOVING OBJECTS

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. This paper presents a method to integrate SLAM and DTMO to solve both problems simultaneously for both indoor and outdoor applications. The results of experiments carried out with vehicles with the maximum speed of 45 mph in crowded urban and suburban areas verify the described work.

Language

  • English

Media Info

  • Pagination: 7p

Subject/Index Terms

Filing Info

  • Accession Number: 00936272
  • Record Type: Publication
  • Files: TRIS, USDOT
  • Created Date: Jan 3 2003 12:00AM