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Conference papers
Grid-based localization and online mapping with moving objects detection and tracking: new results
Abstract : In this paper, we present a real-time algorithm for local simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with a laser scanner. 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 by a multiple hypothesis tracker (MHT) coupled with an adaptive IMM (interacting multiple models) 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 on a Daimler Mercedes demonstrator in the framework of the European Project PReVENT-ProFusion2.
Cited literature [10 references]
https://hal.archives-ouvertes.fr/hal-01023306
Contributor : Trung-Dung Vu <>
Submitted on : Friday, July 11, 2014 - 10:59:30 PM
Last modification on : Friday, July 3, 2020 - 4:52:33 PM
Document(s) archivé(s) le : Saturday, October 11, 2014 - 1:16:22 PM
Contributor : Trung-Dung Vu <>
Submitted on : Friday, July 11, 2014 - 10:59:30 PM
Last modification on : Friday, July 3, 2020 - 4:52:33 PM
Document(s) archivé(s) le : Saturday, October 11, 2014 - 1:16:22 PM
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