In this paper, we present a real-time algorithm for online simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with laser sensor and odometry. To correct vehicle location from odometry we introduce a new fast implementation of incremental scan matching method that can work reliably in dynamic outdoor environments. After a good vehicle location is estimated, the surrounding map is updated incrementally and moving objects are detected without a priori knowledge of the targets. Detected moving objects are finally tracked using Global Nearest Neighborhood (GNN) method. The experimental results on datasets collected from different scenarios such as: urban streets, country roads and highways demonstrate the efficiency of the proposed algorithm.


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    Titel :

    Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments


    Beteiligte:
    Vu, Trung-Dung (Autor:in) / Aycard, Olivier (Autor:in) / Appenrodt, Nils (Autor:in)


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    1311958 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments

    Vu, T.-D. / Aycard, O. / Appenrodt, N. et al. | British Library Conference Proceedings | 2007



    Vision-based Simultaneous Localization and Mapping in Changing Outdoor Environments

    Milford, M. / Vig, E. / Scheirer, W. et al. | British Library Online Contents | 2014