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.
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Supplemental Notes:
- Full conference proceedings available on CD-ROM.
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Corporate Authors:
Federal Transit Administration
1200 New Jersey Avenue, SE
Washington, DC United States 20590 -
Authors:
- Wang, C C
- Thorpe, C
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Conference:
- Technical Information on Transit IVI Projects
- Location: Las Vegas, Nevada
- Date: 2002-10-28 to 2002-10-29
- Publication Date: 2002
Language
- English
Media Info
- Pagination: 7p
Subject/Index Terms
- TRT Terms: Detection and identification; Mapping; Moving target indicators; Robotics; Suburbs; Tracking systems; Transit buses; Urban areas
- Identifier Terms: Intelligent Vehicle Initiative
- Subject Areas: Operations and Traffic Management; Public Transportation; Safety and Human Factors;
Filing Info
- Accession Number: 00936272
- Record Type: Publication
- Files: TRIS, USDOT
- Created Date: Jan 3 2003 12:00AM