Grid-based Localization and Online Mapping with Moving Object Detection and Tracking - Archive ouverte HAL Accéder directement au contenu
Rapport (Rapport De Recherche) Année : 2007

Grid-based Localization and Online Mapping with Moving Object Detection and Tracking

Résumé

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 laser sensor, radar 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 of the vehicle 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 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.
Fichier principal
Vignette du fichier
rr.pdf (609.75 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

inria-00167687 , version 1 (22-08-2007)
inria-00167687 , version 2 (29-08-2007)
inria-00167687 , version 3 (05-09-2008)

Identifiants

  • HAL Id : inria-00167687 , version 3

Citer

Julien Burlet, Trung Dung Vu, Olivier Aycard. Grid-based Localization and Online Mapping with Moving Object Detection and Tracking. [Research Report] RR-6276, INRIA. 2007. ⟨inria-00167687v3⟩
211 Consultations
2017 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More