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Online localization and mapping with moving objects detection in dynamic outdoor environments

Online localization and mapping with moving objects detection in dynamic outdoor environments,10.1109/ICCP.2009.5284729,Qadeer Baig,Trung-Dung Vu,Oliv

Online localization and mapping with moving objects detection in dynamic outdoor environments   (Citations: 3)
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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 dataset collected from INTERSAFE-2 demonstrator for typical scenario show the effectiveness of this technique.
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    • ...A great deal of work has been done to solve these problems using different sensors, especially laser scanners [2], [12], [9], [5], [14]...
    • ...Section we present the demonstrator used for this work and sensors installed on it. We summarize our work [2] on laser processing to build a map of the environment, localize our ego vehicle inside this map and detect moving objects in Section III...
    • ...In this section we summarize our laser data processing [2] used to detect moving objects, with details of improvements done for this fusion work...

    Qadeer Baiget al. Fusion between laser and stereo vision data for moving objects trackin...

    • ...European project PReVENT-ProFusion 1 in cooperation with Daimler [1] and Volvo [2] and is currently in the european project Intersafe2 2 in cooperation with Volkswagen [3]...

    Julien Burletet al. Interacting multiple models based classification of moving objects

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